• Corpus ID: 221139763

Learning Lyapunov Functions for Piecewise Affine Systems with Neural Network Controllers

  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},
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… 

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