The computation of a domain of attraction (DOA) around an equilibrium point is a key issue in nonlinear stability analysis, which boils down to the difficult problem of searching for a Zubov function. With an operator-theoretical viewpoint of nonlinear systems, the concept of Zubov--Koopman operator has been introduced. However, due to the lack of convergence guarantee on the infinite-times action of Zubov--Koopman operator, the Zubov function estimate is unamenable to a theoretical bound under data-based learning errors. In this paper, considering a reproducing kernel Hilbert space (RKHS) with a linear--radial product kernel, the operator is proved to have a spectrum inside the unit circle. Hence, by augmenting this RKHS with constant-valued functions, the Zubov function that characterizes the DOA is obtained as the unique invariant element under the operator's action. This new RKHS formulation allows an efficient kernel-based estimation, which has an at most sectorially bounded error that scales down with the sample size. The proposed approach is tested with numerical examples, showing high accuracy of on-DOA/off-DOA classification of states, with two order-of-magnitude faster computation than neural networks.
Numerical experiments demonstrate that the bilevel RKHS method provides a more stable and competitive alternative to classical L-curve and generalized cross-validation strategies and that the adaptive RKHS norm is more accurate and robust than Lρ2- and ℓ2-norms for regularization.
The generalized finite rate of innovation~(GenFRI) framework aims at reconstructing finite-rate-of-innovation~(FRI) signals measured through a noisy linear measurement model. GenFRI has been recently recast as a structured low-rank optimization problem and the Cadzow projected gradient descent~(CPGD) algorithm has been suggested to solve it. While CPGD works well in practice, only qualitative local convergence guarantees have been established. We revisit GenFRI in the light of the regularization by denoising framework, recasting it as an optimization problem whose solutions lie in the fixed-point set of the Cadzow denoiser. We show that no algorithm in this family can enjoy global guarantees, and establish instead that the Cadzow denoiser is quasi-nonexpansive on an explicit neighborhood of the FRI model set, whose radius is governed by the conditioning of the underlying Dirac stream. Building on these results, we propose the generalized CPGD~(GCPGD) algorithm and prove its convergence from any initialization within an explicit basin of attraction, together with a reconstruction error bound proportional to the noise level. Numerical experiments validate the predicted contraction rates, recovery thresholds, and run-time certificates, and show that a single run of GCPGD outperforms state-of-the-art GenFRI algorithms.
We propose a residual energy-based framework for constructing low-rank approximations of kernel matrices arising from continuous kernel functions. The method operates in a continuous setting and is based on the adaptive selection of pivot nodes, referred to as \emph{optimal nodes}, which are chosen to minimize the residual energy at each step. This leads to a sequence of rank-$1$ updates of the residual kernel and admits a natural interpretation as a continuous analog of Adaptive Cross Approximation (ACA). From a theoretical perspective, we show that the residual kernels remain in the class of compact operators and that the approximation error is exactly characterized by the residual energy. We provide convergence guarantees showing that the method yields monotonic error reduction under an alignment condition and achieves geometric decay under practically motivated assumptions. Extensive numerical experiments demonstrate that the proposed method achieves approximation errors close to those of the truncated singular value decomposition across a range of kernel functions. The method exhibits strong robustness with respect to sampling and maintains stable performance across different discretizations. Furthermore, the close agreement between the continuous residual energy and the discrete approximation error highlights the consistency of the formulation. These results establish the proposed approach as a theoretically grounded, practically effective continuous counterpart to classical cross-approximation techniques.
This work provides a system-theoretic interpretation of generalization in learning-enabled dynamical systems arising in data-driven optimization and feedback control approximation, and establishes a matrix inequality-based certificate and a uniform stability bound that separates the one-sample sensitivity of the learned operator, and an algorithm-dependent dynamical gain.
This paper presents a data-driven stable manifold (DD-SM) method, which integrates Koopman operator representation learning with the geometric stable manifold approach to Hamilton-Jacobi-Bellman (HJB) equations, enabling end-to-end optimal feedback control synthesis from raw trajectory data without prior knowledge of system dynamics. We construct an augmented control system under a unified symmetric subspace decomposition (SSD) and extended dynamic mode decomposition (EDMD) framework for joint approximation of the drift field, control matrix and their spatial derivatives, and derive probabilistic finite-sample error bounds for invariant and non-invariant dictionary spaces to yield a provably accurate approximate characteristic system of HJB equation. Via Lyapunov-Perron operator and ODE perturbation analysis, we prove the data-driven stable manifold achieves monotonically decreasing semi-global error with growing training data. We further establish closed-loop exponential stability and quantify the optimality gap, both tightenable by refining model accuracy. An efficient algorithm pipeline with adaptive data generation and deep neural approximation is developed, outputting control signals within 1 millisecond. Experiments on a modified van der Pol oscillator verify the effectiveness of our method.
One of the main objectives in control theory is to obtain a linear representation of inherently nonlinear systems in order to leverage the analytical and theoretical tools developed for linear systems. In this context, the Koopman operator has attracted increasing interest in recent years.Koopman operator theory provides a framework in which nonlinear dynamical systems are represented by a linear operator acting on an infinite-dimensional Hilbert space. Since such an infinite-dimensional representation is not numerically tractable, numerous finite-dimensional approximation methods have been proposed. These approaches typically rely on time-series data and include extended dynamic mode decomposition as well as deep learning–based variants. In this paper, we propose an original machine-learning-based approach for the synthesis of a fixed-dimensional Koopman approximant (lifting) of continuous-time nonlinear systems. A differential state-space representation of the system (as opposed to a recurrent state model) is assumed to be available through its vector field (f). The proposed encoder departs from conventional approaches in that it does not directly output the current latent state, but instead generates samples of the latent trajectory evaluated at user-defined time instants (temporal discretization). This formulation enables the integration into the learning process of Physical & Latent Continuous Losses, enforcing consistency between the physical dynamics and the Koopman dynamics, as well as Physical & Latent Boundary Losses, ensuring consistency with the prescribed initial conditions. In parallel, we introduce a structural stability constraint on the Koopman operator. The effectiveness of the proposed methodology is demonstrated through the analysis and simulation of two polynomial dynamical systems.
M. Zodros, A. Colotti, M. Yagoubi et al.· International Conference on...· 0 citations
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