Backstepping controller synthesis for piecewise affine systems: A sum of squares approach
Bibliographic record
Abstract
This paper addresses backstepping controller synthesis for piecewise affine (PWA) systems. The main contribution of the paper is to formulate controller design for a large class of PWA systems as a convex problem. Integrator backstepping is proposed as the principal design step in constructing Lyapunov functions for PWA systems in strict feedback form. The controller synthesis problem is divided into two cases. The first case consists of the construction of a sum of squares (SOS) Lyapunov function for PWA systems with discontinuous vector fields. The second case addresses the construction of a piecewise polynomial Lyapunov function for PWA systems with continuous vector fields. After constructing a (piecewise) polynomial Lyapunov function, controller synthesis for a PWA system can be formulated as an SOS program, which is a convex optimization problem and can be efficiently solved. The new synthesis method is applied to a numerical example.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".