Koopman-based controller design for nonlinear systems with closed-loop guarantees
By (author) Robin Strässer
Paperback (Published)
(May 2026)
ISBN: 9783832560881
5.71 x 8.27 inches
Price: $60.00
In stock
Koopman operator theory has emerged as a powerful tool for data-driven analysis and
control of nonlinear dynamical systems, enabling (bi)linear representations of
complex dynamics. Its practical application requires finite-dimensional
approximations, which inevitably introduce model errors. Existing approaches often
neglect these errors, limiting the reliability of Koopman-based control.
This thesis closes this gap by presenting a systematic control framework for
nonlinear systems that connects Koopman theory and data-driven modeling to robust
control design with rigorous closed-loop guarantees. The framework consists of two
main components. First, bilinear surrogate models are derived from data using
Koopman operator theory, providing explicit residual error bounds that account for
finite-data and approximation effects. Second, these surrogate models form the basis
for designing robust state-feedback controllers that explicitly incorporate the
model uncertainties, ensuring desired closed-loop properties of the underlying
nonlinear system.
The framework in this thesis provides a rigorous and systematic foundation for
Koopman-based control, establishing both numerical effectiveness and theoretical
closed-loop guarantees, such as exponential stability and quadratic performance, via
linear matrix inequalities and sum-of-squares relaxations.
- By (author) Robin Strässer
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