A single observed trajectory plus a known disturbance bound is enough to synthesize a robust safety certificate and controller for unknown input-affine polynomial systems.
From model-based control to data-d riven control: Survey, classification and perspective,
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Learning Robust Safety Controllers for Uncertain Input-Affine Polynomial Systems
A single observed trajectory plus a known disturbance bound is enough to synthesize a robust safety certificate and controller for unknown input-affine polynomial systems.