Publications by Clara Lucía Galimberti

Parametrizations of all stable closed-loop responses: From theory to neural network control design

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Luca Furieri

The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback controllers to boost t ...

2025

Erratum to “Learning to Boost the Performance of Stable Nonlinear Systems”

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Luca Furieri

Institute of Electrical and Electronics Engineers (IEEE)2025

Learning to Boost the Performance of Stable Nonlinear Systems

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Luca Furieri

The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning algorithms. Howev ...

2024

Navigating the Loop: From Control Systems to Neural Networks and Back

Clara Lucía Galimberti

The work presented in this thesis lies at the intersection of Machine Learning (ML) and control theory. The first part is dedicated to the design of Deep Neural Network (DNN) architectures with specific numerical properties, inspired by dynamical systems m ...

EPFL2024

A PAC-Bayesian Framework for Optimal Control with Stability Guarantees

Giancarlo Ferrari Trecate, Clara Lucía Galimberti

Stochastic Nonlinear Optimal Control (SNOC) involves minimizing a cost function that averages out the random uncertainties affecting the dynamics of nonlinear systems. For tractability reasons, this problem is typically addressed by minimizing an empirical ...

IEEE2024

Unconstrained Parametrization of Dissipative and Contracting Neural Ordinary Differential Equations

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Luca Furieri, Daniele Martinelli

In this work, we introduce and study a class of Deep Neural Networks (DNNs) in continuous-time. The proposed architecture stems from the combination of Neural Ordinary Differential Equations (Neural ODEs) with the model structure of recently introduced Rec ...

IEEE2023

Hamiltonian Deep Neural Networks Guaranteeing Non-Vanishing Gradients by Design

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Liang Xu, Luca Furieri

Deep Neural Networks (DNNs) training can be difficult due to vanishing and exploding gradients during weight optimization through backpropagation. To address this problem, we propose a general class of Hamiltonian DNNs (H-DNNs) that stem from the discretiz ...

2023

Neural System Level Synthesis: Learning over All Stabilizing Policies for Nonlinear Systems

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Luca Furieri

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

IEEE2022

Distributed neural network control with dependability guarantees: a compositional port-Hamiltonian approach

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Muhammad Zakwan, Luca Furieri

Large-scale cyber-physical systems require that control policies are distributed, that is, that they only rely on local real-time measurements and communication with neighboring agents. Optimal Distributed Control (ODC) problems are, however, highly intrac ...

2022

A unified framework for Hamiltonian deep neural networks

Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Liang Xu

Training deep neural networks (DNNs) can be difficult due to the occurrence of vanishing/explod- ing gradients during weight optimization. To avoid this problem, we propose a class of DNNs stemming from the time discretization of Hamiltonian systems. The t ...

2021

Suboptimal Distributed LQR Design for Physically Coupled Systems

Baiwei Guo, Giancarlo Ferrari Trecate, Clara Lucía Galimberti, Liang Xu

In this paper, we propose a suboptimal distributed LQR control method, applicable to systems coupled through both physical interconnections and the quadratic cost to be minimized. Thanks to a novel suboptimal but distributed cost-to-go matrix update that e ...

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