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Software for examples of "Minimally-Invasive Robustly Safe Control using Density Functions"
(2024)Two methods to perform certifiable robustly safe control of dynamical systems are barrier and density functions. Minimally-invasive control for barrier functions proceeds by picking an input with minimal norm away from a reference control law subject to respecting the barrier safety constraint. This minimally-invasive law for each state can be derived by solving a quadratic program in an online manner. However, the synthesis problem of ...Software -
Software for simulation example in "Small Noise Analysis of Non-Parametric Closed-Loop Identification"
(2024)We revisit the problem of non-parametric closed-loop identification in frequency domain; we give a brief survey of the literature and provide a small noise analysis of the direct, indirect, and joint input-output methods when two independent experiments with identical excitation are used. The analysis is asymptotic in the noise variance (i.e., as the standard deviation of the innovations σ→0), for a finite data record of length N. We ...Software -
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Software for the simulation study in "Data-driven formulation of the Kalman filter and its Application to Predictive Control"
(2024)Data-driven methods for predictive control rely on input-output data to give a Hankel matrix representation of the set of system behaviours. They are poorly suited to situations where both process noise and measurement noise dominate the behaviour whereas Kalman filters optimally estimate system states in this scenario. We derive a data-driven Kalman filter formulation based on dynamic evolution of Hankel matrix output predictions. ...Software