# Learning Lyapunov Functions for Piecewise Affine Systems with Neural Network Controllers

@article{Chen2020LearningLF, title={Learning Lyapunov Functions for Piecewise Affine Systems with Neural Network Controllers}, author={Shaoru Chen and Mahyar Fazlyab and Manfred Morari and George J. Pappas and Victor M. Preciado}, journal={arXiv: Optimization and Control}, year={2020} }

We propose an iterative method for Lyapunov-based stability analysis of piecewise affine dynamical systems in feedback with piecewise affine neural network controllers. In each iteration, a learner uses a collection of samples of the closed-loop system to propose a Lyapunov function candidate by solving a convex program. The learner then queries a verifier, which then solves a mixed-integer program to either validate the proposed Lyapunov function candidate or reject it with a counterexample, i…

## 11 Citations

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