On Regularizability and Its Application to Online Control of Unstable LTI Systems
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Publication:6053151
DOI10.1109/TAC.2021.3131148arXiv2006.00125MaRDI QIDQ6053151FDOQ6053151
Authors: Mehran Mesbahi 
Publication date: 26 September 2023
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: Learning, say through direct policy updates, often requires assumptions such as knowing a priori that the initial policy (gain) is stabilizing, or persistently exciting (PE) input-output data, is available. In this paper, we examine online regulation of (possibly unstable) partially unknown linear systems with no prior access to an initial stabilizing controller nor PE input-output data; we instead leverage the knowledge of the input matrix for online regulation. First, we introduce and characterize the notion of "regularizability" for linear systems that gauges the extent by which a system can be regulated in finite-time in contrast to its asymptotic behavior (commonly characterized by stabilizability/controllability). Next, having access only to the input matrix, we propose the Data-Guided Regulation (DGR) synthesis procedure that -- as its name suggests -- regulates the underlying state while also generating informative data that can subsequently be used for data-driven stabilization or system identification. We further improve the computational performance of DGR via a rank-one update and demonstrate its utility in online regulation of the X-29 aircraft.
Full work available at URL: https://arxiv.org/abs/2006.00125
Cited In (2)
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