4 papers · 1 filter
Modeling Nonlinear Control Systems via Koopman Control Family: Universal Forms and Subspace Invariance Proximity
Masih Haseli, Jorge Cortés
This paper introduces the Koopman Control Family (KCF), a mathematical framework for modeling general (not necessarily control-affine) discrete-time nonlinear control systems with…
Anytime Solvers for Variational Inequalities: the (Recursive) Safe Monotone Flows
Ahmed Allibhoy, Jorge Cortés
This paper synthesizes anytime algorithms, in the form of continuous-time dynamical systems, to solve monotone variational inequalities. We introduce three algorithms that solve th…
Invariance Proximity: Closed-Form Error Bounds for Finite-Dimensional Koopman-Based Models
Masih Haseli, Jorge Cortés
A popular way to approximate the Koopman operator's action on a finite-dimensional subspace of functions is via orthogonal projections. The quality of the projected model directly…
Regularity Properties of Optimization-Based Controllers
Pol Mestres, Ahmed Allibhoy, Jorge Cortés
This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the opti…