2026· IEEE Control Systems Letters· Vol 10, pp. 1483-1488· 0 citations· 21 references
Computer Science
Abstract
This letter addresses the data-driven linear quadratic regulator (LQR) problem with input constraints under process noise and errors-in-variables measurement errors. Using noisy state and input measurements, we design controllers that ensure closed-loop stability, minimize a quadratic cost, and respect input bounds without identifying the system dynamics. The problem is formulated as a robust polynomial optimization over all models consistent with the data and noise bounds. By applying the theorem of alternatives and sum-of-squares techniques, we derive tractable certificates that eliminate the measurement-error variables, reducing the complexity of the resulting relaxations. Two formulations are proposed: a matrix-valued formulation based on Scherer’s Positivstellensatz and a scalarized alternative enabling Putinar-type certificates.
A certainty-equivalence design is adopted that combines a switching MPC control law with online regularized least-squares (RLS) parameter estimation, resulting in non-asymptotic, high-probability stability bounds for the closed-loop system under the proposed switching controller.
Chang-Yi Lei, Seth Siriya, D. Nešić et al.· arXiv.org· 0 citations
This paper investigates the control of discrete-time linear time-invariant (LTI) systems subject to incomplete and corrupted measurements. Specifically, we focus on designing a Linear Quadratic Gaussian (LQG) controller without relying on explicit state estimation. By leveraging minimum variance duality, our approach a...
It is shown that for a class of LPV systems with a constant input matrix, it is possible to derive direct LMI conditions without any approximations by appropriately formulating the PDLF.
Jin Yan, Hoai-Nam Nguyen, Nel Samama· International Journal of Con...· 0 citations
We develop a robust safety filter for input-constrained underactuated linear systems subject to unknown bounded-rate disturbances and structured model uncertainty entering through known distribution channels. A disturbance observer provides an online disturbance estimate and a dynamic estimation-error radius that defin...
Muhamad Rausyan Fikri· 2 citations
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