
The author introduces a tunable universal formula to address safety-critical control by incorporating a tunable scaling term into Sontag's universal formula. This approach allows for flexible tuning of controllers' safety guarantees, smoothness, and safety margins.


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a-tunable-universal-formula-for-safety-critical-control-addressing-safety-robustness-and-smoothness


A Tunable Universal Formula for Safety-Critical Control: Addressing Safety, Robustness, and Smoothness
