A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

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This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

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This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

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A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

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