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Controller Design for Structured State-space Models via Contraction Theory
Muhammad Zakwan, Vaibhav Gupta, Alireza Karimi +2
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs ha…
L2RU: a Structured State Space Model with prescribed L2-bound
Leonardo Massai, Muhammad Zakwan, Giancarlo Ferrari-Trecate
Structured state-space models (SSMs) have recently emerged as a powerful architecture at the intersection of machine learning and control, featuring layers composed of discrete-tim…
Neural Port-Hamiltonian Models for Nonlinear Distributed Control: An Unconstrained Parametrization Approach
Muhammad Zakwan, Giancarlo Ferrari-Trecate
The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabiliz…