Nikolai Matni – Publications
Electrical and Systems Engineering, University of Pennsylvania
Please see my Google Scholar page for citations.
We release all code needed to reproduce examples in papers originating from our group on the Unstable Zeros github repo.
Journals

Control for SocietalScale Challenges Roadmap 2030, IEEE CSS Publication, 2023.

A. Tsiamis, I. Ziemann, N. Matni, and G. J. Pappas Statistical Learning Theory for Control: A Finite Sample Perspective, Submitted, 2023.

L. Lindemann, A. Robey, L. Jiang, S. Tu, and N Matni, Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations, Submitted, 2023. [code]

S. Chen, V. M. Preciado, M. Morari, and N. Matni, Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis
, Submitted, 2023. [code]

L. Lindemann, L. Jiang, N. Matni, and G. J. Pappas Risk of Stochastic Systems for Temporal Logic Specifications, ACM Transactions on Embedded Computing Systems, 2023.

C. Amo Alonso, J. S. Li, J. Anderson, and N. Matni, Distributed and Localized Model Predictive Control. Part I: Synthesis and Implementation, IEEE Transactions on the Control of Network Systems (TCONES), 2022. [code]

C. Amo Alonso, J. S. Li, N. Matni, and J. Anderson, Distributed and Localized Model Predictive Control. Part II: Theoretical Guarantees, IEEE Transactions on the Control of Network Systems (TCONES), 2023. [code]

C. Amo Alonso, F. Yang, and N. Matni, Datadriven Distributed and Localized Model Predictive Control, IEEE Open Journal of Control Systems, 2022. [code]

S. Fattahi, N. Matni, and S. Sojoudi, Efficient Learning of Distributed LinearQuadratic Controllers, SIAM Journal on Control and Optimization (SICON), 2020. (arXiv) [code]

J. Anderson, J. C. Doyle, S. H. Low, and N. Matni, System Level Synthesis, Annual Reviews in Control, 2019.

S. Dean, H. Mania, N. Matni,
B. Recht, and S. Tu, On the Sample Complexity of the Linear Quadratic Regulator, Journal of Foundations of Computational Mathemtaics (FoCM), 2019. (arXiv)

N. Wu, Y. Bi, N. Michael, A. Tang, J. C. Doyle and N. Matni, A ControlTheoretic Approach to InNetwork Congestion Management , IEEE Transactions on Networking, 2018.

Y.S. Wang, N. Matni, and J. C. Doyle, Separable and Localized System Level Synthesis for LargeScale Systems , IEEE Transactions on Automatic Control, 2018.

Y.S. Wang, N. Matni, and J. C. Doyle, A System Level Approach to Controller Synthesis , IEEE Transactions on Automatic Control, 2019. 2021 IEEE CSS George S. Axelby Award.

V. Jonsson, C. Blakely, ..., N. Matni, ..., J. C. Doyle and T. Bivona, Novel computational method for predicting polytherapy switching strategies to overcome tumor heterogeneity and evolution, Nature Scientific Reports.

N. Matni and V. Chandrasekaran, Regularization for Design, IEEE Transactions on Automatic Control, 2016 (arXiv, ieeexplore)

N. Matni, Communication Delay Codesign in H2 Distributed Control Using Atomic Norm Minimization, IEEE Transactions on Control of Network Systems, 2017. (arXiv, ieeexplore)

M. Oishi, N. Matni, A. Ashoori, and M. J. McKeown, Switching restrictions for stability despite switching delay: Application to switched tracking tasks in Parkinson's disease, Journal of Nonlinear Systems and Applications, Special issue on hybrid systems, vol. 2, no. 12, p. 1625, 2011.
Refereed Conference Proceedings

I. Ziemann, S. Tu, G. Pappas, and N. Matni, The noise level in linear regression with dependent data, Submitted, 2023.

B. D. Lee, I. Ziemann, A. Tsiamis, H. Sandberg, and N. Matni, The Fundamental Limitations of Learning LinearQuadratic Regulators, Submitted, 2023.

D. Pfrommer, M. Simchowitz, T. Westenbroek, N. Matni, and S. Tu, The Power of Learned Locally Linear Models for Nonlinear Policy Optimization, International Conference on Machine Learning (ICML), 2023.

B. D. Lee, T. T.C.K. Zhang, H. Hassani, and N. Matni, Adversarial Tradeoffs in Robust State Estimation, IEEE American Control Conference, 2023.

T. TCK Zhang, K. Kang, B. D. Lee, C. Tomlin, S. Levine, S. Tu, and N. Matni, MultiTask Imitation Learning for Linear Dynamical Systems, Conference on Learning for Dynamics and Control (L4DC), 2023.

K. Y. Chee, M. A. Hsieh, and N. Matni, Learningenhanced Nonlinear Model Predictive Control using Knowledgebased Neural Ordinary Differential Equations and Deep Ensembles, Conference on Learning for Dynamics and Control (L4DC), 2023.

D. Brandfonbrener, S. Tu, A. Singh, S. Welker, C. Boodoo, N. Matni, and J. Varley, Visual Backtracking Teleoperation: A Data Collection Protocol for Offline ImageBased Reinforcement Learning, International Conference on Robotics and Automation, 2023. [website]

H. Wu, T. Tagomori, A. Robey, F. Yang, N. Matni, G. Pappas, H. Hassani, C. Pasareanu, and C. Barrett, Toward Certified Robustness Against RealWorld Distribution Shifts, First IEEE Conference on Secure and Trustworthy Machine Learning (SaTML), 2023.

I. Ziemann, A. Tsiamis, H. Sandberg, and N. Matni, How are policy gradient methods affected by the limits of control?, IEEE Conference on Decision and Control, 2022.

B. D. Lee, T. T.C.K. Zhang, H. Hassani, and N. Matni, PerformanceRobustness Tradeoffs in Adversarially Robust LinearQuadratic Control, IEEE Conference on Decision and Control, 2022.

F. Yang, F. Gama, S. Sojoudi, and N. Matni, Distributed Optimal Control of Graph Symmetric Systems Via Graph Filters, IEEE Conference on Decision and Control, 2022.

S. Chen, N.Y. Li, V. M. Preciado, and N. Matni Robust Model Predictive Control of TimeDelay Systems through System Level Synthesis, IEEE Conference on Decision and Control, 2022.

D. Pfrommer, T. T.C.K. Zhang, S. Tu, N. Matni, TaSIL: Taylor Series Imitation Learning, NeurIPS, 2022. [code]

I. Ziemann, H. Sandberg, and N. Matni, Single Trajectory Nonparametric Learning of Nonlinear Dynamics, Conference on Learning Theory (CoLT), 2022.

A. Tsiamis, I. Ziemann, M. Morari, N. Matni, and G. J. Pappas, Learning to Control Linear Systems can be Hard, Conference on Learning Theory (CoLT), 2022.

G. Georgakis, B. Bucher, A. Arapin, K. Schmeckpeper, N. Matni, and K. Daniilidis, Uncertaintydriven Planner for Exploration and Navigation, International Conference on Robotics and Automation, 2022. [github]

S. Tu, A. Robey, T. Zhang, and N. Matni, On the Sample Complexity of Stability Constrained Imitation Learning, Learning for Dynamics and Control (L4DC), 2022. (one of 16/176 papers selected for oral presentation)

B. Bianchini, M. Halm, N. Matni, and M. Posa, Generalization bounds for implicit learning of nearly discontinuous functions, Learning for Dynamics and Control (L4DC), 2022.

T. T.C.K. Zhang, S. Tu, N. M. Boffi, J.J. E. Slotine, and N. Matni, Adversarially Robust Stability Certificates can be SampleEfficient, Learning for Dynamics and Control (L4DC), 2022.

D. Pfrommer, and N. Matni, Linear Variational State Space Filtering, Submitted, 2022. [github]

F. Yang, and N. Matni, Communication Topology CoDesign in Graph Recurrent Neural Network Based Distributed Control, IEEE Conference on Decision and Control, 2021. [code]

L. Lindemann, N. Matni, and G. J. Pappas, STL Robustness Risk over DiscreteTime Stochastic Processes, IEEE Conference on Decision and Control, 2021.

C. Amo Alonso, J. S. Li, N. Matni, and J. Anderson, Robust Distributed and Localized Model Predictive Control, 2021, Submitted.

B. Bucher, K. Schmeckpeper, N. Matni, and K. Daniilidis, An Adversarial Objective for Scalable Exploration , IEEE International Workshop on Intelligent Robots and Systems (IROS), 2021.

A. Robey, L. Lindemann, S. Tu, and N. Matni, Learning Robust Hybrid Control Barrier Functions for Uncertain Systems, IFAC Conference on the Analysis and Design of Hybrid Systems, 2021. [github]

J. Xu, B. Lee, N. Matni, and D. Jayaraman, How Are Learned PerceptionBased Controllers Impacted by the Limits of Robust Control?, Learning for Decision and Control, 2021. [project website]

A. Xue, and N. Matni, DataDriven System Level Synthesis, Learning for Decision and Control, 2021. [github]

L. Lindemann, H. Hu, A. Robey, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, Learning Hybrid Control Barrier Functions from Data, Conference on Robot Learning (CoRL), 2020. [github] [short talk]

N. M. Boffi, S. Tu, N. Matni, J.J. E. Slotine, V. Sindhwani, Learning Stability Certificates from Data , Conference on Robot Learning (CoRL), 2020. [short talk]

A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, Learning Control Barrier Functions from Expert Demonstrations, IEEE Conference on Decision and Control (CDC), 2020. [github] [talk]

H. Wang, S. Chen, M. Morari, V. Preciado, and N. Matni, Robust Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github]

C. Amo Alonso, N. Matni, and J. Anderson, Explicit Distributed and Localized Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github][video]

C. Amo Alonso, and N. Matni, Distributed and Localized Model Predictive Control via System Level Synthesis, IEEE Conference on Decision and Control (CDC), 2020. [github][video]

L. JarinLipschitz, R. Li, T. Nguyen, V. Kumar, N. Matni, Evaluating Robust, Perception Based Controllers with Quadrotors, International Conference on Intelligent Robots and Systems (IROS), 2020.

A. Tsiamis, N. Matni, G. Pappas, Sample Complexity of Kalman Filtering for Unknown Systems , Learning for Decision and Control 2020. (one of 14/135 papers selected for oral presentation)

S. Dean, N. Matni, B. Recht, and V. Ye, Robust Guarantees for PerceptionBased Control, Learning for Decision and Control 2020. [github]

J. Anderson, N. Matni, and Y. Chen, Sparsity Preserving Discretization With Error Bounds, 21st World Congress of the International Federation of Automatic Control, 2020.

S. Park, O. Bastani, N. Matni, I. Lee, PAC Confidence Sets for Deep Neural Networks via Calibrated Prediction, International Conference on Learning Representations (ICLR) 2020. [github]

N. Matni and A. Sarma, Robust Performance Guarantees for System Level Synthesis, IEEE American Control Conference 2020. [github]

N. Bernat, J. Chen, N. Matni, and J. C. Doyle, The driver and the engineer: reinforcement learning and robust control, IEEE American Control Conference 2020.

N. Matni, A. Proutiere, A. Rantzer and S. Tu, From SelfTuning Regulators to Reinforcement Learning and Back Again (tutorial session and paper), IEEE Conference on Decision and Control, 2019.

N. Matni, and S. Tu, A Tutorial on Concentration Bounds for System Identification (tutorial companion paper), IEEE Conference on Decision and Control, 2019.

S. Fattahi, N. Matni, and S. Sojoudi, Learning Sparse Dynamical Systems from a Single Sample Trajectory, IEEE Conference on Decision and Control, 2019.

S. Dean, S. Tu, N. Matni, and
B. Recht, Safely Learning to Control the Constrained Linear Quadratic Regulator, IEEE American Control Conference, 2019.

S. Dean, H. Mania, N. Matni,
B. Recht, and S. Tu, Regret Bounds for Robust Adaptive Control of the Linear Quadratic Regulator, Neural Information Processing Systems (NeurIPS), 2018. [github]

R. Boczar, N. Matni, and B. Recht, FiniteData Performance Guarantees for the OutputFeedback Control of an Unknown System, IEEE Conference on Decision and Control, 2018. [github]

D. Ho, N. Matni, and J. C. Doyle, PassiveAggressive Learning and Control, IEEE American Control Conference, 2018. (Invited paper).

J. Anderson and N. Matni, Structured State Space Realizations for SLS Distributed Controllers, IEEE 55th Annual Allerton Conference on Communication, Control, and Computing, 2017.

N. Wu, Y. Bi, N. Michael, A. Tang, J. C. Doyle and N. Matni HFTraC: HighFrequency Traffic Control, SIGMETRICS '17 Abstracts, Proceedings of the 2017 ACM SIGMETRICS / International Conference on Measurement and Modeling of Computer Systems.

J. C. Doyle, N. Matni, Y.S. Wang, J. Anderson and S. Low. System Level Synthesis: A Tutorial, IEEE Conference on Decision and Control, 2017.

N. Matni, Y.S. Wang, and J. Anderson Scalable system level synthesis for virtually localizable systems , IEEE Conference on Decision and Control, 2017. (Invited Paper)

Y.S. Wang, N. Matni, and J. C. Doyle, System Level Parameterizations, Constraints and Synthesis , IEEE American Control Conference, 2017. Best student paper award ( Journal version with proofs and additional discussion )

N. Matni, Optimal ZeroQueue Congestion Control using ADMM, IEEE American Control Conference, 2017.

J. C. Doyle, Y. Nakahria, Y.P. Leong, ..., N. Matni, Teaching control theory in high school, IEEE Conference on Decision and Control, 2016. Tutorial paper.

N. Matni and J. C. Doyle, A Theory of Dynamics, Control and Optimization in Layered Architectures, IEEE American Control Conference, 2016. (Extended version)

Y.S. Wang, N. Matni and J. C. Doyle, Localized LQR Control with Actuator Regularization, IEEE American Control Conference, 2016.

Y.S. Wang and N. Matni, Localized LQG Optimal Control for LargeScale Systems (Extended version), IEEE American Control Conference, 2016. (Invited paper)

Y.S. Wang, S. You and N. Matni, Localized Distributed Kalman Filters for LargeScale Systems, 5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, 2015.

Y. Nakahira, N. Matni and J. C. Doyle Hard limits on robust control over delayed and quantized communication channels with applications to sensorimotor control, IEEE 54th Annual Conference on Decision and Control, 2015.

S. You and N. Matni, A convex approach to sparse Hinfinity analysis and synthesis, IEEE 54th Annual Conference on Decision and Control, 2015.

N. Matni, A. Tang and J. C. Doyle, A case study in network architecture tradeoffs, ACM Sigcomm Symposium on SDN Research (SOSR), 2015. (Technical Report)

N. Matni and M. B. Horowitz, A convex approach to consensus on SO(n), IEEE 52nd Annual Allerton Conference on Communication, Control, and Computing, 2014. (arXiv)

Y.S. Wang and N. Matni, Localized Distributed Optimal Control with Output Feedback and Communication Delays, IEEE 52nd Annual Allerton Conference on Communication, Control, and Computing, 2014.

N. Matni and V. Chandrasekaran, Regularization for Design , IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (arXiv)

N. Matni, Distributed Control Subject to Delays Satisfying an Hinfinity Norm Bound, IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (arXiv)

Y.S. Wang, N. Matni and J. C. Doyle, Localized LQR Optimal Control, IEEE 53rd Annual Conference on Decision and Control, 2014. (arXiv)

V. Jonsson, N. Matni and R. M. Murray, Synthesizing Combination Therapies for Evolutionary Dynamics of Disease for Nonlinear Pharmacodynamics, IEEE 53rd Annual Conference on Decision and Control, 2014. Invited paper. (biorXiv)

N. Matni, A. Lamperski and J. C. Doyle, Optimal Two Player LQR State Feedback with Varying Delay, 19th World Congress of the International Federation of Automatic Control, 2014.

Y.S. Wang, N. Matni, S. You and J. C. Doyle, Localized Distributed State Feedback Control with Communication Delays, IEEE American Control Conference, 2014.

M. Horowitz, N. Matni and J. Burdick, Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation, IEEE International Conference on Robotics and Automation, 2014.

N. Matni, Y.P. Leong, Y.S. Wang, S. You, M. B. Horowitz and J. C. Doyle, Resilience in Large Scale Distributed Systems, Conference on Systems and Engineering Research, 2014.

N. Matni, Communication Delay Codesign in H2 Decentralized Control Using Atomic Norm Minimization (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013. Best student paper award.

N. Matni and J.C. Doyle, Optimal Distributed LQG State Feedback with Varying Communication Delays (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013.

V. Jonsson, N. Matni and R.M. Murray, Reverse Engineering Combination Therapies for Evolutionary Dynamics of Disease: An Hinf Approach (ieeexplore), IEEE 52nd Annual Conference on Decision and Control, 2013.

N. Matni and J.C. Doyle, A Dual Problem in H2 Decentralized Control Subject to Delays (ieeexplore), IEEE American Control Conference, 2013.

N. Matni and J.C. Doyle, A Heuristic for SubOptimal H2 Decentralized Control Subject to Delay in NonQuadraticallyInvariant Systems (ieeexplore), IEEE American Control Conference, 2013.

N. Matni, A Projection Framework for NearPotential Polynomial Games (ieeexplore), IEEE 51st Annual Conference on Decision and Control, Maui, HI, December 2012, p. 65076512.

N. Matni, M. Oishi, Stability of switched block uppertriangular linear systems with bounded switching delay: Application to large distributed systems, In the Proceedings of the American Control Conference, San Francisco, CA, June 2011, p. 14401445.

N. Matni and M. Oishi, Reachability analysis for continuous systems under shared control: Application to userinterface design, In the Proceedings of the IEEE Conference on Decision and Control, Shanghai, China, December 2009, p 59295934. Interactive paper prize.

M. Oishi and N. Matni, Towards provably safe control of smart wheelchairs, In the Proceedings of the AAAI Symposium, AI in Eldercare, Washington, DC, November 2008.

N. Matni and M. Oishi, Reachabilitybased abstraction for an aircraft landing under shared control, In the Proceedings of the American Control Conference, Seattle, WA, June 2008.
Patents

CIT 7323 Data Network Controlled and Optimized Using Layered Architectures: Nikolai Matni and John C. Doyle.

CIT 14135 Designing Combination Therapies for Interacting Drugs and Nonlinear Pharmacodynamics for Evolutionary Dynamics of Disease using Optimal Control: Vanessa Jonsson, Nikolai Matni, Anders Rantzer and Bo Bernhardsson.
Working notes
