Control Theory
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Cooperative Game Theory Unlocks Better ILC Performance for Untrackable Repetitive Tasks
Standard Iterative Learning Control (ILC) assumes perfect trackability — that an input exists capable of driving system output to match a desired trajectory. This assumption often fails in practice, leaving conventional ILC suboptimal. This paper proposes an end-to-end ILC framework for closed-loop …
Belief-Space MPC Enables Dual Control of Linear Systems with Input-Dependent Bilinear Observations
This work addresses finite-horizon quadratic control of linear systems where bilinear observations depend on both state and control inputs, causing the separation principle to fail as controls impact future state estimation quality. An input-dependent Kalman filter is required, with gain and error c…