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arXiv · 2603.17401

Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions

Pol Mestres·Shima Sadat Mousavi·Aaron D. Ames
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Abstract

This letter studies the dynamical properties of safety filters designed based on Control Barrier Functions (CBF). This mechanism, which is popular in safety-critical applications, takes a nominal controller and minimally modifies it to render it safe. Although CBF-based safety filters make the closed-loop system safe, characterizing their additional dynamical properties, such as stability, boundedness, or existence of spurious equilibria, remains a challenging problem. Here, we address this problem for the case of linear systems and an affine CBF constraint. We provide conditions under which the closed-loop system presents undesired equilibria, unbounded trajectories, or the origin is globally exponentially stable.

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Pol Mestres, Shima Sadat Mousavi, Aaron D. Ames. 2026-03-18. Dynamical Properties of Safety Filters for Linear Systems and Affine Control Barrier Functions. https://arxiv.org/abs/2603.17401

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