{"id":"https://openalex.org/W3015458616","doi":"https://doi.org/10.1109/cdc42340.2020.9304441","title":"Control of Unknown Nonlinear Systems with Linear Time-Varying MPC","display_name":"Control of Unknown Nonlinear Systems with Linear Time-Varying MPC","publication_year":2020,"publication_date":"2020-12-14","ids":{"openalex":"https://openalex.org/W3015458616","doi":"https://doi.org/10.1109/cdc42340.2020.9304441","mag":"3015458616"},"language":"en","primary_location":{"id":"doi:10.1109/cdc42340.2020.9304441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE 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/2004.03041","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103009751","display_name":"Dimitris Papadimitriou","orcid":"https://orcid.org/0000-0003-1327-8469"},"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":"Dimitris Papadimitriou","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA","University of California\u2013Berkeley"],"affiliations":[{"raw_affiliation_string":"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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026281392","display_name":"Ugo Rosolia","orcid":"https://orcid.org/0000-0002-1682-0551"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ugo Rosolia","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, USA","California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,USA,91125","institution_ids":["https://openalex.org/I122411786"]}]},{"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":["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":"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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103009751"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.2975,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5390625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2258","last_page":"2263"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"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":0.9994000196456909,"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/control-theory","display_name":"Control theory (sociology)","score":0.8018127679824829},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7979748249053955},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.7412291765213013},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.730035662651062},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6581444144248962},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.6148367524147034},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4949938654899597},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40914931893348694},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33592545986175537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23443764448165894},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08218786120414734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0741017758846283}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8018127679824829},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7979748249053955},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.7412291765213013},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.730035662651062},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6581444144248962},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.6148367524147034},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4949938654899597},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40914931893348694},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33592545986175537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23443764448165894},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08218786120414734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0741017758846283},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/cdc42340.2020.9304441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc42340.2020.9304441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 59th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2004.03041","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.03041","pdf_url":"https://arxiv.org/pdf/2004.03041","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":"","raw_type":"text"},{"id":"mag:3015458616","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2004.03041","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":"pmh:oai:authors.library.caltech.edu:107643","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/107643/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"doi:10.48550/arxiv.2004.03041","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2004.03041","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:2004.03041","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.03041","pdf_url":"https://arxiv.org/pdf/2004.03041","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W594290302","https://openalex.org/W1500462030","https://openalex.org/W1548354964","https://openalex.org/W1573759704","https://openalex.org/W1597173708","https://openalex.org/W1608758704","https://openalex.org/W1965324089","https://openalex.org/W1977931412","https://openalex.org/W1994524295","https://openalex.org/W1995945562","https://openalex.org/W2000352206","https://openalex.org/W2006859604","https://openalex.org/W2037450006","https://openalex.org/W2038798729","https://openalex.org/W2049670620","https://openalex.org/W2056947227","https://openalex.org/W2125527681","https://openalex.org/W2137295153","https://openalex.org/W2143346970","https://openalex.org/W2144174236","https://openalex.org/W2148219398","https://openalex.org/W2162977544","https://openalex.org/W2214230591","https://openalex.org/W2749680651","https://openalex.org/W2750277188","https://openalex.org/W2797563284","https://openalex.org/W2803275621","https://openalex.org/W2892521964","https://openalex.org/W2902765408","https://openalex.org/W2937700357","https://openalex.org/W2947044087","https://openalex.org/W2963999210","https://openalex.org/W2969991110","https://openalex.org/W2973076431","https://openalex.org/W2981389409","https://openalex.org/W2989394062","https://openalex.org/W4241649586","https://openalex.org/W6632704154"],"related_works":["https://openalex.org/W2155795362","https://openalex.org/W2892244504","https://openalex.org/W2058986224","https://openalex.org/W3015886811","https://openalex.org/W2766815789","https://openalex.org/W3000426967","https://openalex.org/W995922588","https://openalex.org/W2911817755","https://openalex.org/W3112181519","https://openalex.org/W2078781064","https://openalex.org/W2167560942","https://openalex.org/W3156862033","https://openalex.org/W2289890412","https://openalex.org/W2144646662","https://openalex.org/W2087017282","https://openalex.org/W2608986228","https://openalex.org/W2963987440","https://openalex.org/W2089738862","https://openalex.org/W3119242572","https://openalex.org/W1480247688"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,74],"Model":[3,76],"Predictive":[4,77],"Control":[5],"(MPC)":[6,79],"strategy":[7],"for":[8,83],"unknown":[9,85],"input-affine":[10],"nonlinear":[11,22,29,92],"dynamical":[12],"systems.":[13],"A":[14,90],"non-parametric":[15],"method":[16],"is":[17],"used":[18,71,102],"to":[19,41,72],"estimate":[20],"the":[21,38,52,67,84,95,98],"dynamics":[23,30],"from":[24,51],"observed":[25],"data.":[26],"The":[27,63],"estimated":[28],"are":[31,57,70],"then":[32],"linearized":[33],"over":[34],"time-varying":[35],"regions":[36],"of":[37,97],"state":[39],"space":[40],"construct":[42],"an":[43],"Affine":[44],"Time-Varying":[45],"(ATV)":[46],"model.":[47],"Error":[48],"bounds":[49],"arising":[50],"estimation":[53,103],"and":[54,66,104],"linearization":[55,105],"procedure":[56],"computed":[58],"by":[59],"using":[60],"sampling":[61],"techniques.":[62],"ATV":[64],"model":[65],"uncertainty":[68],"sets":[69],"design":[73],"robust":[75],"Controller":[78],"which":[80],"guarantees":[81],"safety":[82],"system":[86],"with":[87],"high":[88],"probability.":[89],"simple":[91],"example":[93],"demonstrates":[94],"effectiveness":[96],"approach":[99],"where":[100],"commonly":[101],"methods":[106],"fail.":[107]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
