{"id":"https://openalex.org/W3184890631","doi":"https://doi.org/10.23919/acc50511.2021.9483019","title":"On Imitation Learning of Linear Control Policies: Enforcing Stability and Robustness Constraints via LMI Conditions","display_name":"On Imitation Learning of Linear Control Policies: Enforcing Stability and Robustness Constraints via LMI Conditions","publication_year":2021,"publication_date":"2021-05-25","ids":{"openalex":"https://openalex.org/W3184890631","doi":"https://doi.org/10.23919/acc50511.2021.9483019","mag":"3184890631"},"language":"en","primary_location":{"id":"doi:10.23919/acc50511.2021.9483019","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061001795","display_name":"Aaron Havens","orcid":"https://orcid.org/0000-0002-8744-8443"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Havens","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Coordinated Science Laboratory (CSL), University of Illinois, Urbana-Champaign, Urbana"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Coordinated Science Laboratory (CSL), University of Illinois, Urbana-Champaign, Urbana","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101513622","display_name":"Bin Hu","orcid":"https://orcid.org/0000-0002-5632-7737"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin Hu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Coordinated Science Laboratory (CSL), University of Illinois, Urbana-Champaign, Urbana"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Coordinated Science Laboratory (CSL), University of Illinois, Urbana-Champaign, Urbana","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":2.7,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90800722,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"882","last_page":"887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8734033107757568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.638587474822998},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5855763554573059},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.4722667932510376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4629685878753662},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4287187159061432},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2594909071922302},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24252769351005554},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.18521350622177124},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18227070569992065}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8734033107757568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638587474822998},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5855763554573059},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.4722667932510376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4629685878753662},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4287187159061432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2594909071922302},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24252769351005554},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.18521350622177124},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18227070569992065},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc50511.2021.9483019","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc50511.2021.9483019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.5199999809265137}],"awards":[{"id":"https://openalex.org/G3992739031","display_name":"CAREER: Interplay between Control Theory and Machine Learning","funder_award_id":"2048168","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6172409814","display_name":null,"funder_award_id":"CAREER-2048168","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1578831870","https://openalex.org/W1588998206","https://openalex.org/W1596877211","https://openalex.org/W1931877416","https://openalex.org/W1986014385","https://openalex.org/W2004470537","https://openalex.org/W2012451615","https://openalex.org/W2055891887","https://openalex.org/W2523246573","https://openalex.org/W2604382266","https://openalex.org/W2737906791","https://openalex.org/W2794908222","https://openalex.org/W2923642485","https://openalex.org/W2949979136","https://openalex.org/W2962957031","https://openalex.org/W2963277051","https://openalex.org/W2982428006","https://openalex.org/W2988569866","https://openalex.org/W2989800586","https://openalex.org/W3100803008","https://openalex.org/W3100975812","https://openalex.org/W3101780148","https://openalex.org/W3108150703","https://openalex.org/W3118291054","https://openalex.org/W3133143524","https://openalex.org/W3159659315","https://openalex.org/W3210839039","https://openalex.org/W4253811327","https://openalex.org/W4287597463","https://openalex.org/W4297825594","https://openalex.org/W6640174482","https://openalex.org/W6696497002","https://openalex.org/W6718092244","https://openalex.org/W6727249380","https://openalex.org/W6760697768","https://openalex.org/W6769892598","https://openalex.org/W6772767932","https://openalex.org/W6785420126","https://openalex.org/W6785513857","https://openalex.org/W6786778618","https://openalex.org/W6790691269"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W4281727072","https://openalex.org/W1982160337","https://openalex.org/W2560201613","https://openalex.org/W1971380437","https://openalex.org/W2141691317","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1983548084"],"abstract_inverted_index":{"When":[0],"applying":[1],"imitation":[2,41],"learning":[3,33,42,67],"techniques":[4],"to":[5,59,111,124],"fit":[6],"a":[7,47],"policy":[8,23,116],"from":[9],"expert":[10],"demonstrations,":[11],"one":[12,73],"can":[13,56,74,108],"take":[14],"advantage":[15],"of":[16,43,104,128],"prior":[17,28],"stability/robustness":[18],"assumptions":[19],"on":[20,88],"the":[21,32,40,66,76,89,94,100,113,126],"expert's":[22],"and":[24,51,62,79,99,138],"incorporate":[25],"such":[26],"control-theoretic":[27],"knowledge":[29],"explicitly":[30],"into":[31],"process.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,70,120],"formulate":[39],"linear":[44,83,133],"policies":[45],"as":[46],"constrained":[48,115],"optimization":[49],"problem,":[50],"present":[52],"efficient":[53],"methods":[54,130],"which":[55],"be":[57,109],"used":[58],"enforce":[60],"stability":[61,78,137],"robustness":[63,80,139],"constraints":[64,87],"during":[65],"processes.":[68],"Specifically,":[69],"show":[71],"that":[72],"guarantee":[75],"closed-loop":[77],"by":[81],"posing":[82],"matrix":[84],"inequality":[85],"(LMI)":[86],"fitted":[90],"policy.":[91],"Then":[92],"both":[93],"projected":[95],"gradient":[96],"descent":[97],"method":[98,103,107],"alternating":[101],"direction":[102],"multipliers":[105],"(ADMM)":[106],"applied":[110],"solve":[112],"resultant":[114],"fitting":[117],"problem.":[118],"Finally,":[119],"provide":[121],"numerical":[122],"results":[123],"demonstrate":[125],"effectiveness":[127],"our":[129],"in":[131],"producing":[132],"polices":[134],"with":[135],"various":[136],"guarantees.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}