Learning Controllers From Data via Approximate Nonlinearity Cancellation

Abstract

In this article, we introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancelation. These conditions take the compact form of data-dependent semidefinite programs. The method returns controllers that can be certified to stabilize the system even when data are perturbed and disturbances affect the dynamics of the system during the execution of the control task, in which case an estimate of the robustly positively invariant set is provided.