Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2611.03259

Output-feedback controller design for switched systems under graph-constrained switching

Marc Seidel·Felix Brändle·Frank Allgöwer
View original source ↗Read source document ↗Export metadata ↓

Abstract

Switched systems operating under a switching constraint are commonly paired with a digraph encoding the possible mode switches. Thereby, edges are associated with the modes of the switched system and the vertices encode the mode switching history. To control those switched systems under graph-constrained switching, an established method is to design vertex-dependent controllers, that is one controller gain per vertex of the graph, which has lead to various results for static feedback controllers. In this paper, we explore the design of edge-dependent controllers. Edge-dependency allows to synthesize dynamic output feedback controllers in a convex manner by means of a Linear Matrix Inequality problem with the additional requirement that the active mode is known. Further, we show that edge-dependency offers a potentially less conservative static output feedback controller design compared to vertex-dependent controllers. We illustrate our results by a numerical example.

Explore related subjects

eess.SYcs.SY

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Marc Seidel, Felix Brändle, Frank Allgöwer. 2026-11-02. Output-feedback controller design for switched systems under graph-constrained switching. https://arxiv.org/abs/2611.03259

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Reinforcement Learning based Traffic Signal Control for Queue Minimization: From Lane-based to Laneless Traffic

Efficient traffic signal control (TSC) is essential for reducing congestion and delays. Traditional TSC methods struggle to capture the dynamics of laneless, heterogeneous traffic. We propose a reinforcement learning (RL) based adaptive TSC framework whose reward depends only on approach-level queue length, motivated by the difficulty of obtaining per-vehicle measurements in laneless traffic, and evaluate it using SUMO on a conventional lane-based, homogeneous (LBHO) intersection and on a non-orthogonal laneless, heterogeneous (LLHE) intersection. On the LBHO site, the lowest mean configuration has about 23\% lower mean queue length than a Dynamic Webster baseline, and the unselected Full-State configuration about 15\% lower. On the LLHE site, all RL configurations have 66-73\% lower mean queue length than a Dynamic Webster baseline under nominal demand, and 63--74\% lower under two higher-demand scenarios evaluated without retraining. Our algorithm also outperforms actuated control and a RESCO-DQN baseline on mean queue length. We additionally release a laneless, heterogeneous-vehicle SUMO framework integrated with RL based signal control, to our knowledge the first such open implementation on a current SUMO version.

eess.SY↗
arXiv2026

A Deep State-Space Model Compression Method using Upper Bound on Output Error

We study deep state-space models (Deep SSMs) that contain linear quadratic-output (LQO) systems as internal blocks and present a compression method with a provable output error guarantee. We first derive an upper bound on the output error between two Deep SSMs and show that the bound can be expressed in terms of the $h^2$-error norms between the layerwise LQO systems. In particular, we show that reducing the $h^2$ approximation errors of the LQO systems placed in shallow layers is effective in reducing the derived upper bound on the output error. Next, we formulate an optimization problem for the derived upper bound and develop a gradient-based MOR method. In the numerical experiments, using the IMDb task from the LRA benchmark, we demonstrate the effectiveness of the proposed upper-bound-based compression method. In particular, we show that the number of trainable parameters can be reduced by approximately 60\% without retraining while maintaining the performance of the original model.

eess.SY↗
arXiv2026

Safe Navigation in Cluttered Environments Via Spline-Based Harmonic Potential Fields

We provide a motion-planning framework for target reaching and obstacle avoidance in cluttered environments. Given a polyhedral decomposition of the feasible space, the agent is guided through a prescribed sequence of cells by a suitable control policy. For each cell, we construct a potential induced by a harmonic function on the unit disk whose Dirichlet boundary condition is represented by a cardinal B-spline curve. A detailed analysis of the curve periodicity, support, and control-point selection provides an explicit analytical construction of these potentials and the associated vector fields. We further characterize inter-cell control continuity and forward invariance of non-exit facets, and introduce a smoothed control law ensuring continuous switching between independently constructed neighboring cells. Numerical results illustrate that the resulting framework safely guides the agent along the prescribed cell sequence from the initial point to the target.

eess.SY↗