The paper derives SDPs that co-design quadratic control barrier functions and linear feedback controllers, certifying worst-case or probabilistic safety for discrete-time uncertain linear systems.
Formal synthesis of stochastic systems via control barrier certificates
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Synthesis of safety certificates for discrete-time uncertain systems via convex optimization
The paper derives SDPs that co-design quadratic control barrier functions and linear feedback controllers, certifying worst-case or probabilistic safety for discrete-time uncertain linear systems.