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Controller design for robust invariance from noisy data

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Document pages: 8 pages

Abstract: For an unknown linear system, starting from noisy open-loop input-state datacollected during a finite-length experiment, we directly design a linearfeedback controller that guarantees robust invariance of a given polyhedral setof the state in the presence of disturbances. The main result is a necessaryand sufficient condition for the existence of such a controller, and amounts tothe solution of a linear program. The benefits of large and rich data sets forthe solution of the problem are discussed. A numerical example about asimplified platoon of two vehicles illustrates the method.

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