{"id":"https://openalex.org/W7139023939","doi":"https://doi.org/10.48550/arxiv.2603.17134","title":"Neural-NPV Control: Learning Parameter-Dependent Controllers and Lyapunov Functions with Neural Networks","display_name":"Neural-NPV Control: Learning Parameter-Dependent Controllers and Lyapunov Functions with Neural Networks","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7139023939","doi":"https://doi.org/10.48550/arxiv.2603.17134"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.17134","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17134","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.17134","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130145649","display_name":"MD Abul Kashem Niloy","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Niloy, MD Abul Kashem","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130022010","display_name":"Adam Hallmark","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hallmark, Adam","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130080408","display_name":"Yikun Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Yikun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129963372","display_name":"Pan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Pan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5130145649"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.266400009393692,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.266400009393692,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.13379999995231628,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.11670000106096268,"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/lyapunov-function","display_name":"Lyapunov function","score":0.767300009727478},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6642000079154968},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6502000093460083},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5932000279426575},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5630000233650208},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.49720001220703125},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4893999993801117},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.3978999853134155},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.38519999384880066}],"concepts":[{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.767300009727478},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6642000079154968},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6502000093460083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63919997215271},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5932000279426575},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5630000233650208},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.49720001220703125},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3700000047683716},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3452000021934509},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.32339999079704285},{"id":"https://openalex.org/C97090092","wikidata":"https://www.wikidata.org/wiki/Q764612","display_name":"Gain scheduling","level":3,"score":0.3188999891281128},{"id":"https://openalex.org/C101403955","wikidata":"https://www.wikidata.org/wiki/Q6707083","display_name":"Lyapunov optimization","level":5,"score":0.3181999921798706},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.31310001015663147},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.30149999260902405},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2865999937057495},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2851000130176544},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27239999175071716},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26260000467300415},{"id":"https://openalex.org/C2983030100","wikidata":"https://www.wikidata.org/wiki/Q638328","display_name":"Nonlinear dynamical systems","level":3,"score":0.2590999901294708},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.17134","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17134","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":"doi:10.48550/arxiv.2603.17134","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.17134","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Nonlinear":[0],"parameter-varying":[1],"(NPV)":[2],"systems":[3,9,24],"are":[4,39],"a":[5,65,76,80,97,112,119,128,172],"class":[6],"of":[7,139,146,150],"nonlinear":[8],"whose":[10],"dynamics":[11,26],"explicitly":[12],"depend":[13],"on":[14],"time-varying":[15],"external":[16],"parameters,":[17],"making":[18],"them":[19],"suitable":[20],"for":[21,31,84],"modeling":[22],"real-world":[23],"with":[25,167,175],"variations.":[27],"Traditional":[28],"synthesis":[29],"methods":[30,158],"NPV":[32,86],"systems,":[33,44],"such":[34],"as":[35],"sum-of-squares":[36],"(SOS)":[37],"optimization,":[38],"only":[40],"applicable":[41],"to":[42,51,55,73,103,126,156],"control-affine":[43],"face":[45],"scalability":[46,154],"challenges":[47],"and":[48,79,111,132,153,171],"often":[49],"lead":[50],"conservative":[52],"results":[53],"due":[54],"structural":[56],"restrictions.":[57],"To":[58],"address":[59],"these":[60],"limitations,":[61],"we":[62,95],"propose":[63],"Neural-NPV,":[64],"two-stage":[66],"learning-based":[67],"framework":[68],"that":[69],"leverages":[70],"neural":[71],"networks":[72],"jointly":[74],"synthesize":[75,104],"PD":[77,81,108,113],"controller":[78,133],"Lyapunov":[82,109,130],"function":[83,110,131],"an":[85,105,163],"system":[87,174],"under":[88],"input":[89],"constraints.":[90],"In":[91,115],"the":[92,116,136,144],"first":[93],"stage,":[94,118],"utilize":[96],"computationally":[98],"cheap,":[99],"gradient-based":[100],"counterexample-guided":[101],"procedure":[102],"approximately":[106],"valid":[107,129],"controller.":[114],"second":[117],"level-set":[120],"guided":[121],"refinement":[122],"is":[123],"then":[124],"conducted":[125],"obtain":[127],"while":[134],"maximizing":[135],"robust":[137],"region":[138],"attraction":[140],"(R-ROA).":[141],"We":[142],"demonstrate":[143],"advantages":[145],"Neural-NPV":[147],"in":[148],"terms":[149],"applicability,":[151],"performance,":[152],"compared":[155],"SOS-based":[157],"through":[159],"numerical":[160],"experiments":[161],"involving":[162],"simple":[164],"inverted":[165],"pendulum":[166],"one":[168],"scheduling":[169,177],"parameter":[170],"quadrotor":[173],"three":[176],"parameters.":[178]},"counts_by_year":[],"updated_date":"2026-03-20T20:54:20.808490","created_date":"2026-03-20T00:00:00"}