The python code for the paper "Online Optimal Tracking of Linear Systems with Adversarial Disturbances"

The purpose of this repository is to reproduce the simulation results in the following paper. Some lines of the code are taken and inspired by deluca: A library for RL with derivatives.

https://sites.google.com/view/nsc-tutorial/codeexperiments

If you like the paper and the repository, make sure to cite it in your work! Happy coding! Happy research!

Citing this repo

Here is a BibTeX entry that you can use to cite the handout in a publication:

@article{yaghmaie2022online,
  title={Online Optimal Tracking of Linear Systems with Adversarial Disturbances},
  author={Yaghmaie, Farnaz Adib and Modares, Hamidreza},
  journal={Transactions on Machine Learning Research},
  year={2022}
}

Before running

Make sure to install the required libraries before running the results

Reproducing the main simulation results

To reproduce the main simulation results, run *main_various_dist.py Uncomment the disturbance that you would like to see the result and comment other disturbances.

Reproducing the simulation results when the reference generator dynamic changes

To reproduce the simulation results for changing reference generator, run *main_changing_reference.py Uncomment the disturbance that you would like to see the result and comment other disturbances.