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  4. Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems
 
conference paper

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Furieri, Luca  
•
Galimberti, Clara  
•
Ferrari Trecate, Giancarlo  
2022
2022 IEEE 61st Conference on Decision and Control (CDC)
61st IEEE Conference on Decision and Control (CDC)

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effective solution based on convex programming. Beyond this case, a globally optimal solution cannot be found in a tractable way, in general. In this paper, we develop a parametrization of all and only the control policies stabilizing a given time-varying nonlinear system in terms of the combined effect of 1) a strongly stabilizing base controller and 2) a stable SLS operator to be freely designed. Based on this result, we propose a Neural SLS (NeurSLS) approach guaranteeing closed-loop stability during and after parameter optimization, without requiring any constraints to be satisfied. We exploit recent Deep Neural Network (DNN) models based on Recurrent Equilibrium Networks (RENs) to learn over a rich class of nonlinear stable operators, and demonstrate the effectiveness of the proposed approach in numerical examples.

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Type
conference paper
DOI
10.1109/CDC51059.2022.9992492
Author(s)
Furieri, Luca  
Galimberti, Clara  
Ferrari Trecate, Giancarlo  
Date Issued

2022

Publisher

IEEE

Published in
2022 IEEE 61st Conference on Decision and Control (CDC)
ISBN of the book

978-1-665467-61-2

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
Event nameEvent placeEvent date
61st IEEE Conference on Decision and Control (CDC)

Cancún, Mexico

December 6-9, 2022

Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/196680
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