Web: http://arxiv.org/abs/2112.04219

June 20, 2022, 1:11 a.m. | Ruigang Wang, Nicholas H. Barbara, Max Revay, Ian R. Manchester

cs.LG updates on arXiv.org arxiv.org

This paper proposes a nonlinear policy architecture for control of
partially-observed linear dynamical systems providing built-in closed-loop
stability guarantees. The policy is based on a nonlinear version of the Youla
parameterization, and augments a known stabilizing linear controller with a
nonlinear operator from a recently developed class of dynamic neural network
models called the recurrent equilibrium network (REN). We prove that RENs are
universal approximators of contracting and Lipschitz nonlinear systems, and
subsequently show that the the proposed Youla-REN architecture …

arxiv learning linear

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