Robust targeted exploration for systems with non-stochastic disturbances
File(s)
Published version
Author(s)
Venkatasubramanian, Janani
Köhler, Johannes
Cannon, Mark
Allgöwer, Frank
Type
Journal Article
Abstract
In this paper, we introduce a novel targeted exploration strategy designed specifically for uncertain linear time-invariant systems with energy-bounded disturbances, i.e., without any assumptions on the distribution of the disturbances. We use classical results characterizing the set of non-falsified parameters consistent with energy-bounded disturbances. We derive a semidefinite program which computes an exploration strategy that guarantees a desired accuracy of the parameter estimate. This design is based on sufficient conditions on the spectral content of the exploration data that robustly account for initial parametric uncertainty. Finally, we highlight the applicability of the exploration strategy through a numerical example involving a nonlinear system.
Date Issued
2026-11-01
Date Acceptance
2026-06-12
Citation
Automatica, 2026, 193
ISSN
0005-1098
Publisher
Elsevier BV
Journal / Book Title
Automatica
Volume
193
Copyright Statement
© 2026 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).
License URL
Publication Status
Published
Article Number
113228
Date Publish Online
2026-08-13