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eess.SY2026
Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control
Yoshinari Takayama, Alessio Iovine, Bart Besselink +2
Real-world control systems must achieve long-horizon objectives (liveness) while respecting continuous-time safety constraints, a combination that motivates hierarchical layered co…
eess.SY2025
On Differential Controllability and Observability Functions
Yu Kawano, Bart Besselink, Jacquelien M. A. Scherpen
Differential balancing theory for nonlinear model reduction relies on differential controllability and observability functions. In this paper, we further investigate them from two…