Direct vs. Indirect Data-Driven Control: Case-study of Switching Systems Stability

Abstract

A central methodological question in data-driven control is whether to adopt a direct or indirect approach. Direct methods infer a controller or certificate directly from data, while indirect methods first identify a system model and then apply model-based control techniques. Recent developments of the direct method have led to finite-sample guarantees for the data-driven stability analysis of switched linear systems under various settings. However, for the indirect method, such guarantees remain largely elusive. In this paper, we provide a novel framework for the stability analysis of switched linear systems from noisy state measurements, using the indirect approach and quadratic Lyapunov analysis. Our framework comes with finite-sample guarantees on the convergence rate of the system. For that, we combine generalization bounds from machine learning and system identification with sensitivity analysis from quadratic Lyapunov analysis. To enable comparison, we also extend existing direct data-driven methods to handle measurement noise beyond the bounded noise case currently available in the literature. Finally, we compare the two approaches through numerical experiments, revealing that under moderate-to-high noise levels the indirect approach yields tighter probabilistic guarantees as well as greater robustness to noise and outliers than the direct approach