IS-sat: a CEGIS-based approach to synthesise robust control functions for uncertain systems affected by actuator faults using LMIs

This repository contains the code for the paper:
Fault-tolerant control of nonlinear systems: An inductive synthesis approach

Scope of the code

This software framework automatically synthesises:

1. a stabilising controller for a desired equilibrium of a linear (or linearised) system;
2. a formal verification of the closed-loop stability.

Step-by-step installation instructions

1. Instructions on installation are available within the file.

2. Is-sat runs on Python 3.11, jax 0.4 and mosek 10.2. .
   We provide installation instructions which are not OS-dependent, such that the code can be run on diverse computational platforms.
   The results were generate and verified on the following OSs:

	OS
Linux Ubuntu 20.04	✅
Linux Ubuntu 24.04	✅

Overview of the code

1. To reproduce the results of the paper, synthesise a new IS-sat control law for the provided examples of for your own system, check this .

2. To reproduce the nonlinear MPC tuning of the paper, or to tune your own nonlinear MPC control law, check this .

3. To explore different IS-sat tuning, check this .

Reference

The article can be accessed open-access on the Automatica webpage.

This work can be cited with the following BibTeX entry:

@article{masti2026fault,
  title={Fault-tolerant control of nonlinear systems: An inductive synthesis approach},
  author={Masti, Daniele and Grande, Davide and Peruffo, Andrea and Fabiani, Filippo},
  journal={Automatica},
  volume={187},
  pages={112897},
  year={2026},
  publisher={Elsevier},
  doi={10.1016/j.automatica.2026.112897}
}