A Monotonicity Framework for Stability Verification of Planar Path-Following Controllers

Benton Clark, Hasan A. Poonawala

Research output: Contribution to journalArticlepeer-review


This letter provides a new tool for verifying behavior of path-following controllers. Use of this tool involves evaluating the monotonicity of the controller with respect to the state. The resulting verification process is simpler than Lyapunov-based methods. Moreover, the evaluation may be performed directly using observation data, without relying on a dynamics or sensor model to be learned. This verification is therefore practical in the context of data-driven control and feedback from information-rich sensors. Knowledge of dynamics or sensor models permits offline verification and design, as shown in several examples.

Original languageEnglish
Pages (from-to)406-411
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2024

Bibliographical note

Publisher Copyright:
© 2017 IEEE.


  • Robotics
  • autonomous vehicles
  • data driven control
  • nonholonomic systems
  • stability of nonlinear systems

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering


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