├── .flake8 ├── .github └── workflows │ └── python-app.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .vscode └── settings.json ├── LICENSE ├── README.md ├── compatible_clf_cbf ├── __init__.py ├── cbf.py ├── clf.py ├── clf_cbf.py ├── controller.py ├── ellipsoid_utils.py └── utils.py ├── data ├── acc_clf_cbf.pkl ├── acc_clf_cbf_init.pkl ├── inverted_pendulum_clf_cbf.pkl ├── inverted_pendulum_clf_cbf_init.pkl ├── nonlinear_toy_clf_cbf.pkl ├── power_converter_V_init.pkl ├── quadrotor2d_clf_cbf.pkl ├── quadrotor_V_init.pkl ├── quadrotor_clf_cbf0.pkl ├── quadrotor_clf_cbf1.pkl ├── quadrotor_clf_cbf2.pkl ├── quadrotor_clf_cbf3.pkl ├── quadrotor_clf_cbf4.pkl ├── quadrotor_clf_cbf5.pkl ├── quadrotor_clf_cbf6.pkl ├── quadrotor_clf_cbf7.pkl ├── quadrotor_clf_cbf8.pkl └── quadrotor_clf_cbf9.pkl ├── doc ├── maximize_inner_ellipsoid.md └── minimize_ellipsoid_volume.md ├── examples ├── adaptive_cruise_control │ ├── plant.py │ ├── simulation.py │ ├── synthesis.py │ └── verification.py ├── inverted_pendulum │ ├── plant.py │ ├── simulation.py │ ├── synthesis.py │ └── verification.py ├── linear_toy │ ├── linear_toy_demo.py │ └── linear_toy_w_input_limits_demo.py ├── nonlinear_toy │ ├── README.md │ ├── demo.py │ ├── demo_trigpoly.py │ ├── demo_trigpoly_incompatible.py │ ├── incompatibility.py │ ├── synthesize_demo.py │ └── toy_system.py ├── power_converter │ ├── demo.py │ └── plant.py ├── quadrotor │ ├── demo.py │ ├── demo_clf.py │ ├── demo_taylor.py │ ├── demo_taylor_clf.py │ └── plant.py ├── quadrotor2d │ ├── demo.py │ ├── demo_clf.py │ ├── demo_taylor.py │ └── plant.py ├── single_integrator │ └── wo_input_limit_demo.py └── small_control │ └── demo.py ├── requirements.txt ├── setup.py └── tests ├── examples ├── power_converter │ └── test_converter_plant.py ├── quadrotor │ └── test_plant.py └── quadrotor2d │ └── test_plant_2d.py ├── test_cbf.py ├── test_clf.py ├── test_clf_cbf.py ├── test_ellipsoid_utils.py └── test_utils.py /.flake8: 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