{"id":"https://openalex.org/W7151321747","doi":"https://doi.org/10.48550/arxiv.2604.04234","title":"Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis","display_name":"Stability Margins of CBF-QP Safety Filters: Analysis and Synthesis","publication_year":2026,"publication_date":"2026-04-05","ids":{"openalex":"https://openalex.org/W7151321747","doi":"https://doi.org/10.48550/arxiv.2604.04234"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.04234","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003664186","display_name":"Shima Sadat Mousavi","orcid":"https://orcid.org/0000-0002-6932-3073"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mousavi, Shima Sadat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071034766","display_name":"Pol Mestres","orcid":"https://orcid.org/0000-0002-6409-8903"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mestres, Pol","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ames, Aaron D.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.8841000199317932,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.8841000199317932,"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":0.04899999871850014,"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":0.00989999994635582,"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/robustness","display_name":"Robustness (evolution)","score":0.7383000254631042},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6577000021934509},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5241000056266785},{"id":"https://openalex.org/keywords/linear-matrix-inequality","display_name":"Linear matrix inequality","score":0.4862000048160553},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.427700012922287},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.38909998536109924},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.3555999994277954},{"id":"https://openalex.org/keywords/certification","display_name":"Certification","score":0.32739999890327454}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7383000254631042},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6577000021934509},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5241000056266785},{"id":"https://openalex.org/C201829737","wikidata":"https://www.wikidata.org/wiki/Q2022760","display_name":"Linear matrix inequality","level":2,"score":0.4862000048160553},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42969998717308044},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.427700012922287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38940000534057617},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.38909998536109924},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3555999994277954},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3352999985218048},{"id":"https://openalex.org/C46304622","wikidata":"https://www.wikidata.org/wiki/Q374814","display_name":"Certification","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.30059999227523804},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2985000014305115},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C143170015","wikidata":"https://www.wikidata.org/wiki/Q17007850","display_name":"Stability conditions","level":3,"score":0.28619998693466187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2840000092983246},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.26089999079704285},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.04234","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04234","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"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":{"Control":[0],"barrier":[1],"function":[2],"(CBF)-QP":[3],"safety":[4,7,22,42,71],"filters":[5],"enforce":[6],"by":[8],"minimally":[9],"modifying":[10],"a":[11,68,87],"nominal":[12,49],"controller.":[13],"While":[14],"prior":[15],"work":[16],"has":[17],"mainly":[18],"addressed":[19],"robustness":[20,25,119],"of":[21,26,93,130],"under":[23],"uncertainty,":[24],"the":[27,41,48,59,76,124,128],"resulting":[28],"closed-loop":[29],"\\emph{stability}":[30],"is":[31,37],"much":[32],"less":[33],"understood.":[34],"This":[35,99],"issue":[36],"important":[38],"because":[39],"once":[40],"filter":[43],"becomes":[44],"active,":[45],"it":[46],"modifies":[47],"dynamics":[50,78],"and":[51,96,105,112,127],"can":[52],"reduce":[53],"stability":[54,132],"margins":[55,133],"or":[56],"even":[57],"destabilize":[58],"system,":[60],"despite":[61],"preserving":[62],"safety.":[63],"For":[64],"linear":[65,107],"systems":[66],"with":[67,117],"single":[69],"affine":[70],"constraint,":[72],"we":[73],"show":[74],"that":[75],"active-mode":[77],"admit":[79],"an":[80],"exact":[81,102],"scalar":[82],"loop":[83],"representation,":[84],"leading":[85],"to":[86],"classical":[88],"robust-control":[89],"interpretation":[90],"in":[91],"terms":[92],"gain,":[94],"phase,":[95],"delay":[97],"margins.":[98],"viewpoint":[100],"yields":[101],"stability-margin":[103],"characterizations":[104],"tractable":[106],"matrix":[108],"inequality":[109],"(LMI)-based":[110],"certificates":[111],"synthesis":[113],"conditions":[114],"for":[115,134],"controllers":[116],"certified":[118,131],"guarantees.":[120],"Numerical":[121],"examples":[122],"illustrate":[123],"proposed":[125],"analysis":[126],"enlargement":[129],"safety-filtered":[135],"systems.":[136]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-08T00:00:00"}