Stability Margins of Neural Network Controllers

This repository contains code for the paper "Stability Margins of Neural Network Controllers"

File Structure

• envs: plant models.
• models: controller models. The DissipativeSimplestRINN is the controller model used. See train_controller.py for a configuration example.
• trainers.py: trainers modified to include the projection step.

Runnable files

• train_controller.py: configure and train controllers.

Package Requirements

This code is tested with Python 3.10.10 and PyTorch 1.11.

Setup

• poetry install
• Above will install some items then error.
• Run poetry run pip install setuptools==65.5.0 pip==21
• Run poetry run pip install wheel==0.38.0
• Run poetry run pip install gym==0.21
• Now run poetry install again

Then, controller training can be run with poetry run python train_controller.py