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arXiv · 2409.09184

Stability Margins of Neural Network Controllers

Neelay Junnarkar·Murat Arcak·Peter Seiler
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Abstract

We present a method to train neural network controllers with guaranteed stability margins. The method is applicable to linear time-invariant plants interconnected with uncertainties and nonlinearities that are described by integral quadratic constraints. The type of stability margin we consider is the disk margin. Our training method alternates between a training step to maximize reward and a stability margin-enforcing step. In the stability margin enforcing-step, we solve a semidefinite program to project the controller into the set of controllers for which we can certify the desired disk margin.

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Neelay Junnarkar, Murat Arcak, Peter Seiler. 2024-09-13. Stability Margins of Neural Network Controllers. https://doi.org/10.23919/acc63710.2025.11107746

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