{"id":"https://openalex.org/W2937689239","doi":"https://doi.org/10.1109/cdc40024.2019.9030270","title":"Sample-Based Learning Model Predictive Control for Linear Uncertain Systems","display_name":"Sample-Based Learning Model Predictive Control for Linear Uncertain Systems","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W2937689239","doi":"https://doi.org/10.1109/cdc40024.2019.9030270","mag":"2937689239"},"language":"en","primary_location":{"id":"doi:10.1109/cdc40024.2019.9030270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1904.06432","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026281392","display_name":"Ugo Rosolia","orcid":"https://orcid.org/0000-0002-1682-0551"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ugo Rosolia","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","University of California at Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA,94701"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California at Berkeley,Department of Mechanical Engineering,Berkeley,CA,USA,94701","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025067440","display_name":"Francesco Borrelli","orcid":"https://orcid.org/0000-0001-8919-6430"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francesco Borrelli","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2013Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026281392"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.3361,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5708533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2702","last_page":"2707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6517947912216187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6327649354934692},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5622762441635132},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5553523302078247},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5453644394874573},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5035435557365417},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.48620858788490295},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.482584148645401},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.473289430141449},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44438862800598145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4340442419052124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4218769669532776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.319713294506073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30715951323509216},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2661154568195343},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06577247381210327}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6517947912216187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6327649354934692},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5622762441635132},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5553523302078247},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5453644394874573},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5035435557365417},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.48620858788490295},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.482584148645401},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.473289430141449},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44438862800598145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4340442419052124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4218769669532776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.319713294506073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30715951323509216},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2661154568195343},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06577247381210327},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cdc40024.2019.9030270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc40024.2019.9030270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 58th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1904.06432","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.06432","pdf_url":"https://arxiv.org/pdf/1904.06432","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2937689239","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1904.06432.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1904.06432","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1904.06432","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1904.06432","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1904.06432","pdf_url":"https://arxiv.org/pdf/1904.06432","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2937689239.pdf","grobid_xml":"https://content.openalex.org/works/W2937689239.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1576452626","https://openalex.org/W1581510674","https://openalex.org/W1973563598","https://openalex.org/W2006859604","https://openalex.org/W2020588182","https://openalex.org/W2042795879","https://openalex.org/W2052848225","https://openalex.org/W2072931156","https://openalex.org/W2100677568","https://openalex.org/W2124477018","https://openalex.org/W2127916491","https://openalex.org/W2139188151","https://openalex.org/W2155065031","https://openalex.org/W2162977544","https://openalex.org/W2164957979","https://openalex.org/W2171674235","https://openalex.org/W2585477135","https://openalex.org/W2749680651","https://openalex.org/W2783921700","https://openalex.org/W2803275621","https://openalex.org/W2822752092","https://openalex.org/W2892521964","https://openalex.org/W2898761421","https://openalex.org/W2913499611","https://openalex.org/W2962775887","https://openalex.org/W2963525569","https://openalex.org/W2963600139","https://openalex.org/W2963960193","https://openalex.org/W2964233862","https://openalex.org/W3041202696","https://openalex.org/W6738345324","https://openalex.org/W6752937632"],"related_works":["https://openalex.org/W2990450181","https://openalex.org/W3037351267","https://openalex.org/W3121688309","https://openalex.org/W2562339972","https://openalex.org/W2504115777","https://openalex.org/W180238592","https://openalex.org/W2963090596","https://openalex.org/W3154421536","https://openalex.org/W3048577543","https://openalex.org/W2901771654","https://openalex.org/W2068133913","https://openalex.org/W2296894568","https://openalex.org/W337754971","https://openalex.org/W2009361155","https://openalex.org/W2983431491","https://openalex.org/W2919264892","https://openalex.org/W2963999210","https://openalex.org/W2990636432","https://openalex.org/W3014637970","https://openalex.org/W3043676607"],"abstract_inverted_index":{"We":[0,75],"present":[1],"a":[2,72],"sample-based":[3],"Learning":[4],"Model":[5],"Predictive":[6],"Controller":[7],"(LMPC)":[8],"for":[9,28],"constrained":[10],"uncertain":[11],"linear":[12],"systems":[13],"subject":[14],"to":[15,44,82,89],"bounded":[16],"additive":[17],"disturbances.":[18],"The":[19,63],"proposed":[20,67],"controller":[21],"builds":[22],"on":[23,26],"earlier":[24],"work":[25],"LMPC":[27,79],"deterministic":[29],"systems.":[30],"First,":[31],"we":[32,51],"introduce":[33],"the":[34,37,66,78,85,92],"design":[35],"of":[36,65],"safe":[38],"set":[39],"and":[40,47,88,100],"value":[41],"function":[42],"used":[43],"guarantee":[45],"safety":[46],"performance":[48],"improvement.":[49],"Afterwards,":[50],"show":[52,76],"how":[53],"these":[54],"quantities":[55],"can":[56],"be":[57],"approximated":[58],"using":[59],"noisy":[60],"historical":[61],"data.":[62],"effectiveness":[64],"approach":[68],"is":[69,80],"demonstrated":[70],"through":[71],"numerical":[73],"example.":[74],"that":[77],"able":[81],"safely":[83],"explore":[84],"state":[86,99],"space":[87],"iteratively":[90],"improve":[91],"worst-case":[93],"closed-loop":[94],"performance,":[95],"while":[96],"robustly":[97],"satisfying":[98],"input":[101],"constraints.":[102]},"counts_by_year":[{"year":2020,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}