A convex data-driven approach for nonlinear control synthesis

Understand

We consider a class of nonlinear control synthesis problems where the underlying mathematical models are not explicitly known.

• We propose a data-driven approach to stabilize the systems when only sample trajectories of the dynamics are accessible.
• Our method is founded on the density function based almost everywhere stability certificate that is dual to the Lyapunov function for dynamic systems.
• Unlike Lyapunov based methods, density functions lead to a convex formulation for a joint search of the control strategy and the stability certificate.