Counter-example guided inductive synthesis of control Lyapunov functions for uncertain systems

We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers linear systems affected by parametric uncertainty with arbitrary shape. In CEGIS framework, learner iteratively proposes candidate function tailored controller solving matrix inequality (LMI) feasibility problem, while verifier either falsifies current producing to be considered at next iteration, or it certifies that tentative actually enjoys such feature. investigate Lipschitz continuity objective global optimization problem solved verifier, which is key establish convergence our method in finite number iterations. Numerical simulations confirm effectiveness proposed approach.