Control Synthesis through the Lens of First Order Methods 

 

ABSTRACT: In this talk, I will provide an overview of feedback control synthesis that has historically been approached via parameterization of certificates for robustness and performance. I then consider how structured synthesis and lack of knowledge of the underlying dynamics complicate the design landscape. This is then followed by delving into control synthesis via direct policy updates using first order methods and issues that had to be addressed once such as point of view was adopted. Extensions to structured synthesis, differential games, and indefinite cost structure will also be discussed.