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Stefan Streif

Publications and source records attributed to Stefan Streif.

At least 19 recordsLinked to original sources

Real-Valued Hyperdimensional Sequence Representations with Hadamard Product Binding and Shift Equivariance

Encoding temporal order is a fundamental requirement for sequence representations in Hyperdimensional Computing. Fractional Power Encoding provides similarity-preserving position vectors whose inner products approximate shift-invariant kernels, and it supports shift-equivariant transformations of encoded sequence representations. However, standard formulations of Fractional Power Encoding are primarily designed for binding operations such as circular convolution or complex-valued multiplication, which limits their compatibility with Hadamard product binding of real-valued vectors. This paper develops real-valued position encodings motivated by Random Fourier Features, aiming to retain the desirable properties of Fractional Power Encoding while supporting Hadamard-based operations. We propose three real-valued position-encoding variants: a real-valued baseline based on the inverse Fourier transform, and Sinusoid and Cosine-only representations derived from Random Fourier Features. Among them, the Sinusoid variant provides an explicit algebraic shift operator, allowing temporal shifts to be applied directly to the vector-encoded sequence representation without re-encoding the shifted sequence. Experiments on time-series classification datasets show that the proposed real-valued representations achieve performance comparable to standard Fractional Power Encoding while enabling computationally efficient Hadamard product binding. The Sinusoid variant offers the most favorable trade-off, combining efficient real-valued implementation with exact shift-equivariant transformations.

cs.AI

A constraint dissolving inexact penalty method for optimization problems with geometric constraints

Optimization problems with geometric constraints have a broad range of applications, including machine learning, finance, and control. A powerful algorithmic tool to resolve these geometric constraints are constraint dissolving methods. To this end, we propose a framework for constraint dissolving mappings for nonconvex geometric constraints. Leveraging these, we develop a constraint dissolving inexact penalty method to solve optimization problems with general set-membership constraints and possibly nonconvex geometric constraints. We establish the convergence of the proposed algorithm and prove that every feasible accumulation point is Mordukhovich stationary. Notably, we rely only on mild asymptotic Mordukhovich regularity, which is significantly weaker than the constraint qualifications adopted in the existing literature on constraint dissolving methods. Numerical experiments addressing classical equality-, complementarity-, sparsity-, and low-rank constrained optimization problems demonstrate that the proposed method is competitive with the safeguarded augmented Lagrangian method in terms of solution quality and significantly outperforms the penalty decomposition method.

math.OC

Polytopic Inner Approximation of Admissible Sets for Linear Systems

This paper presents a method for computing inner polytopic approximations of admissible sets for continuous-time linear control systems subject to multiple affine state constraints, with a particular concern on computational tractability for large dimensional problems. In place of globally computing the admissible set and the part of its boundary called the barrier, we compute the so-called individual admissible sets and the corresponding barriers for each single constraint. We then use the exact sampling of linear systems and generate polytopes in half-space representation that provide an approximation of the individual admissible sets, to finally intersect them. We provide a complexity analysis of the whole procedure to evaluate its efficiency. The approach is illustrated by two examples -a triple integrator and a mass-spring-damper chain considered in 4, 6, 8, and 10 dimensions- with corresponding runtimes evaluated for both.

math.OC

On the Boundary of the Robust Admissible Set in State and Input Constrained Nonlinear Systems

In this paper, we consider nonlinear control systems subject to bounded disturbances and to both state and input constraints. We introduce the definition of robust admissible set - the set of all initial states from which the state and input constraints can be satisfied for all times against all admissible disturbances. We focus on its boundary that can be decomposed into the usable part on the state constraint boundary and the barrier, interior to the state constraints. We show that, at the intersection of these two components, the boundary of the robust admissible set must be tangent to the state constraint set and separate the interior of the robust admissible set and its complement, a property that we call the ultimate locally separating hyperplane condition. Moreover, we prove that the barrier must satisfy a saddle-point principle on a Hamiltonian, based on Pontryagin's maximum principle, whose final condition is precisely the ultimate locally separating condition, thus providing a set of differential equations made of the system and its adjoint for a direct construction of the barrier. Lastly, we illustrate our results by calculating the robust admissible set for an adaptive cruise control example.

math.OC

Hierarchical Causal Abduction: A Foundation Framework for Explainable Model Predictive Control

Model Predictive Control (MPC) is widely used to operate safety-critical infrastructure by predicting future trajectories and optimizing control actions. However, nonlinear dynamics, hard safety constraints, and numerical optimization often render individual control moves opaque to human operators, undermining trust and hindering deployment. This paper presents Hierarchical Causal Abduction (HCA), which combines (i) physics-informed reasoning via domain knowledge graphs, (ii) optimization evidence from Karush--Kuhn--Tucker (KKT) multipliers, and (iii) temporal causal discovery via the PCMCI algorithm to generate faithful, human-interpretable explanations for control actions computed by nonlinear MPC. Across three diverse control applications (greenhouse climate, building HVAC, chemical process engineering) with expert validation, HCA improves explanation accuracy by 53\% over LIME (0.478 vs. 0.311) using a single set of cross-domain parameters without per-domain tuning; domain-specific KKT-threshold calibration over 2--3 days further increases accuracy to 0.88. Ablation studies confirm that each evidence source is essential, with 32--37\% accuracy degradation when any component is removed, and HCA's ranking-and-validation methodology generalizes beyond MPC to other prediction-based decision systems, including learning-based control and trajectory planning.

cs.AI

Time-varying optimal control under measurement errors

Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation, to track the solution of the optimal control problem. To improve the applicability of the method, measurement errors are considered in this paper and it is described how these errors influence a control Lyapunov function-based decay condition. As a result of these investigations, input-affine constraints that meet the standard formulation and that describe the set of admissible controls are obtained. The paper also derives a requirement on the necessary measurement accuracy as well as a triggering condition for taking a new measurement. The main theorem combines these results into a robustly stabilizing control algorithm, meaning that all closed-loop trajectories starting in a vicinity around the true state converge to zero. Additionally, the tracking system ensures that the optimal control is tracked at the end of each sampling period. The effectiveness of this approach is demonstrated using a train acceleration model and the well-known predator-prey model.

eess.SY

A Tutorial to Multirate Extended Kalman Filter Design for Monitoring of Agricultural Anaerobic Digestion Plants

In many applications of biotechnology, measurements are available at different sampling rates, e.g., due to online sensors and offline lab analysis. Offline measurements typically involve time delays that may be unknown a priori due to the underlying laboratory procedures. This multirate (MR) setting poses a challenge to Kalman filtering, where conventionally measurement data is assumed to be available on an equidistant time grid and without delays. This tutorial paper derives the MR version of an extended Kalman filter (EKF) based on sample state augmentation, and applies it to the anaerobic digestion (AD) process in a simulative agricultural setting. The performance of the MR-EKF is investigated for various scenarios including varying delay lengths, measurement noise levels, plant-model mismatch (PMM), and initial state error. Provided with an adequate tuning, the MR-EKF can reliably estimate the process state and, thus, appropriately fuse the delayed offline measurements and smooth the noisy online measurements. Because of the sample state augmentation approach, the delay length of offline measurements does not critically effect the performance of the state estimation, provided that observability is not lost during the delays. Poor state initialization and PMM affect convergence more than measurement noise levels. Furthermore, selecting an appropriate tuning was found to be critically important for successful application of the MR-EKF for which a systematic approach is presented. This tutorial provides implementation guidance for practitioners seeking to successfully apply state estimation for multirate systems. Thus, it contributes to the development of demand-driven operation of biogas plants, which may aid in stabilizing a renewable electricity grid.

eess.SP

Benchmarking Reinforcement Learning via Stochastic Converse Optimality: Generating Systems with Known Optimal Policies

The objective comparison of Reinforcement Learning (RL) algorithms is notoriously complex as outcomes and benchmarking of performances of different RL approaches are critically sensitive to environmental design, reward structures, and stochasticity inherent in both algorithmic learning and environmental dynamics. To manage this complexity, we introduce a rigorous benchmarking framework by extending converse optimality to discrete-time, control-affine, nonlinear systems with noise. Our framework provides necessary and sufficient conditions, under which a prescribed value function and policy are optimal for constructed systems, enabling the systematic generation of benchmark families via homotopy variations and randomized parameters. We validate it by automatically constructing diverse environments, demonstrating our framework's capacity for a controlled and comprehensive evaluation across algorithms. By assessing standard methods against a ground-truth optimum, our work delivers a reproducible foundation for precise and rigorous RL benchmarking.

cs.LG

Strong nonlinear detectability and moving horizon estimation for nonlinear systems with unknown inputs

This paper considers state estimation for general nonlinear discrete-time systems subject to measurement noise and possibly unbounded unknown inputs. To approach this problem, we first propose the concept of strong nonlinear detectability. This condition is sufficient and necessary for the existence of unknown input state estimators (UISEs), which reconstruct states from noisy sampled measurements and yield bounded estimation error even for unbounded unknown inputs. Based on the proposed detectability notion, a UISE is designed via a moving horizon estimation strategy using a full-order model as well as past and current measurements. Next, we tighten this detectability notion to design a two-stage MHE-based UISE, which is computationally more efficient than the MHE-based UISE using full-order models. In a simulation example with a plant growth process, both variants of MHE-based UISEs are compared with a conventional MHE to illustrate the merits of the developed methods.

eess.SY

MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs

We propose a moving horizon estimation (MHE) scheme for general nonlinear constrained systems with parametric or static nonlinear uncertainties and a predetermined state feedback controller that is assumed to robustly stabilize the system in the absence of estimation errors. Leveraging integral quadratic constraints (IQCs), we introduce a new notion of detectability that is robust to possibly non-parametric uncertainties and verifiable in practice. Assuming that the uncertain system driven by the controller satisfies this notion of detectability, we provide an MHE formulation such that the closed-loop system formed of the uncertain system, the controller and MHE is input-to-state stable w.r.t. exogenous disturbances.

eess.SY

Generalized Super-Twisting Observer for a class of interconnected nonlinear systems with uncertainties

The Generalized Super-Twisting Observer (GSTO) is extended for a strongly observable class of nonlinearly interconnected systems with bounded uncertainties/perturbations. A nonsmooth strong Lyapunov function is used to prove the finite-time convergence of the proposed observer to the true system's trajectories, in the presence of the uncertainties. A case study on the interaction between two food production systems is presented, comparing the proposed observer with the High Gain observer. The results emphasize the critical role of the GSTO's discontinuous term in achieving exact estimation.

eess.SY

Some remarks on robustness of sample-and-hold stabilization

This work studies robustness to system disturbance and measurement noise of some popular general practical stabilization techniques, namely, Dini aiming, optimization-based stabilization and inf-convolution stabilization. Common to all these techniques is the explicit usage of a (general nonsmooth) control Lyapunov function, thus allowing to see them as a kind of generalization to the celebrated Sontag's formula. It turns out that certain details of the above described robustness properties have not yet received the attention in literature they deserved. We provide new remarks, formalized in mathematical propositions, on robustness of selected popular stabilization techniques along with an extensive statistical case study on a robot parking problem.

eess.SY

Some remarks on practical stabilization via CLF-based control under measurement noise

Practical stabilization of input-affine systems in the presence of measurement errors and input constraints is considered in this brief note. Assuming that a Lyapunov function and a stabilizing control exist for an input-affine system, the required measurement accuracy at each point of the state space is computed. This is done via the Lyapunov function-based decay condition, which describes along with the input constraints a set of admissible controls. Afterwards, the measurement time points are computed based on the system dynamics. It is shown that between these self-triggered measurement time points, the system evolves and converges into the so-called target ball, i.e. a vicinity of the origin, where it remains. Furthermore, it is shown that the approach ensures the existence of a control law, which is admissible for all possible states and it introduces a connection between measurement time points, measurement accuracy, target ball, and decay. The results of the approach are shown in three examples.

eess.SY

Modularized data-driven approximation of the Koopman operator and generator

Extended Dynamic Mode Decomposition (EDMD) is a widely-used data-driven approach to learn an approximation of the Koopman operator. Consequently, it provides a powerful tool for data-driven analysis, prediction, and control of nonlinear dynamical (control) systems. In this work, we propose a novel modularized EDMD scheme tailored to interconnected systems. To this end, we utilize the structure of the Koopman generator that allows to learn the dynamics of subsystems individually and thus alleviates the curse of dimensionality by considering observable functions on smaller state spaces. Moreover, our approach canonically enables transfer learning if a system encompasses multiple copies of a model as well as efficient adaption to topology changes without retraining. We provide finite-data bounds on the estimation error using tools from graph theory. The efficacy of the method is illustrated by means of various numerical examples.

eess.SY

Comparison of Unscented Kalman Filter Design for Agricultural Anaerobic Digestion Model

Dynamic operation of biological processes, such as anaerobic digestion (AD), requires reliable process monitoring to guarantee stable operating conditions at all times. Unscented Kalman filters (UKF) are an established tool for nonlinear state estimation, and there exist numerous variants of UKF implementations, treating state constraints, improvements of numerical performance and different noise cases. So far, however, a unified comparison of proposed methods emphasizing the algorithmic details is lacking. The present study thus examines multiple unconstrained and constrained UKF variants, addresses aspects crucial for direct implementation and applies them to a simplified AD model. The constrained UKF considering additive noise delivered the most accurate state estimations. The long run time of the underlying optimization could be vastly reduced through pre-calculated gradients and Hessian of the associated cost function, as well as by reformulation of the cost function as a quadratic program. However, unconstrained UKF variants showed lower run times at competitive estimation accuracy. This study provides useful advice to practitioners working with nonlinear Kalman filters by paying close attention to algorithmic details and modifications crucial for successful implementation.

eess.SY

Global Observability Analysis of a Growth Model for Insects Farming

The Hermetia illucens insects or the black soldier fly has been attracting a growing interest in the food and feed industry. For its high nutritional value on the one hand, and because it is an adequate species for insects in controlled environmental agriculture systems, on the other. Therefore, several models describing this larvae's behaviour have been developed in the literature. Due to the complex nature of living organisms, systems of controlled environment agriculture are characterised by their strong nonlinearities. In this paper, we present a three dimensional nonlinear model describing the black soldier fly dry biomass weight dynamic changes due to the temperature's influence. In practice, this biomass weight is not measured in real time. This becomes problematic for applying feedback control strategies that assume full information of the states. Thus, this work investigates the observability of the dry biomass of a Hermetia illucens farming batch. The instantaneous and global observability of the aforementioned model is proven by constructing an injective transformation between the state space and a higher dimensional space where the transformed states are observable.

eess.SY

Computer-assisted proofs for Lyapunov stability via Sums of Squares certificates and Constructive Analysis

We provide a computer-assisted approach to ensure that a given continuous or discrete-time polynomial system is (asymptotically) stable. Our framework relies on constructive analysis together with formally certified sums of squares Lyapunov functions. The crucial steps are formalized within of the proof assistant Minlog. We illustrate our approach with various examples issued from the control system literature.

math.OC

MPC without Terminal Ingredients Tailored to the SEIR Compartmental Epidemic Model

We consider the SEIR compartmental epidemic model subject to state and input constraints (a cap on the proportion of infectious individuals and limits on the allowed social distancing and quarantining measures, respectively). We present a tailored model predictive control (MPC) scheme without terminal conditions. We rigorously show recursive feasibility and asymptotic convergence of the MPC closed loop to the continuum of disease-free equilibrium points for suitably designed quadratic running cost and a sufficiently long prediction horizon (forecast window). Moreover, we establish the viability kernel (a.k.a. the admissible set) as a domain of attraction of the continuum of equilibria.

math.OC