2025/02/06 by Amir Modares, Modares, Amir, Bahare Kiumarsi +3
Engineering · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Electrical engineering #Fault Detection and Control Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2502.04195
openalex publication_date 2025/02/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper integrates prior knowledge into direct learning of safe controllers for linear uncertain systems under disturbances. To this end, we characterize the set of all closed-loop systems that can be explained by available prior knowledge of the system model and the disturbances. We leverage matrix zonotopes for data-based characterization of closed-loop systems and show that the explainability of closed-loop systems by prior knowledge can be formalized by adding an equality conformity constraint to the matrix zonotope. We then leverage the resulting constraint matrix zonotope and design safe controllers that conform with both data and prior knowledge. This is achieved by ensuring the inclusion of a constrained zonotope of all possible next states in a λ-scaled level set of the safe set. We consider both polytope and zonotope safe sets and provide set inclusion conditions using linear programming.