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arXiv · 2403.08159

Exponential Stability of Parametric Optimization-Based Controllers via Lur'e Contractivity

Alexander Davydov·Francesco Bullo
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Abstract

In this letter, we investigate sufficient conditions for the exponential stability of LTI systems driven by controllers derived from parametric optimization problems. Our primary focus is on parametric projection controllers, namely parametric programs whose objective function is the squared distance to a nominal controller. Leveraging the virtual system method of analysis and a novel contractivity result for Lur'e systems, we establish a sufficient LMI condition for the exponential stability of an LTI system with a parametric projection-based controller. Separately, we prove additional results for single-integrator systems. Finally, we apply our results to state-dependent saturated control systems and control barrier function-based control and provide numerical simulations.

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Alexander Davydov, Francesco Bullo. 2024-03-13. Exponential Stability of Parametric Optimization-Based Controllers via Lur'e Contractivity. https://doi.org/10.1109/lcsys.2024.3408110

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