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Author

Joaquín Carrasco

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Preprint Sep 2026

Safe Stabilising Full-Order Affine Control Barrier Functions for Linear Systems (Extended)

Control barrier function safety filters enforce constraints by modifying a nominal input, but the resulting switching can destabilise the closed loop even when the nominal and filtered modes are individually stable. This paper presents a design framework for safe and globally exponentially stabilising controllers for l...

Faisal Lawan, Joaquín Carrasco, Lan-Lan Su · 0 citations

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