A new free parametrization of L2-bounded LTI systems creates L2RU SSM layers that enforce stability by design, allowing unconstrained nonlinear controller optimization with guarantees via small-gain theorem.
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Free Parametrization of L_2-Bounded Structured State-Space Controllers for Nonlinear Control with Stability Guarantees
A new free parametrization of L2-bounded LTI systems creates L2RU SSM layers that enforce stability by design, allowing unconstrained nonlinear controller optimization with guarantees via small-gain theorem.