The segment method as an alternative to minimax in hypothesis testing. - Bruce H. Krogh; H. Vincent Poor (Inf. Sci., 1982)

Modeling and Control of Overloaded Transmission Networks - Bruce H. Krogh (1983)

Kinematics and open-loop control of an ilonator-based mobile platform. - David J. Daniel; Bruce H. Krogh; Mark B. Friedman (ICRA, 1985)

Models for simulation and discrete control of manufacturing systems. - Carolyn L. Beck; Bruce H. Krogh (ICRA, 1986)

Integrated path planning and dynamic steering control for autonomous vehicles. - Bruce H. Krogh; Charles E. Thorpe (ICRA, 1986)

Hierarchical control structures for multi-cell flexible assembly system co-ordination. - Ram Akella; Bruce H. Krogh (ICRA, 1987)

Essentially decision free Petri nets for real-time resource allocation. - Bruce H. Krogh; Ramavarapu S. Sreenivas (ICRA, 1987)

The acceleration radius: a global performance measure for robotic manipulators. - Timothy J. Graettinger; Bruce H. Krogh (IEEE J. Robotics Autom., 1988)

The servo-control system for an omnidirectional mobile robot. - Dai Feng; Mark B. Friedman; Bruce H. Krogh (ICRA, 1989)

The use of simulated annealing to solve the mobile manipulator path planning problem. - Wayne F. Carriker; Pradeep K. Khosla; Bruce H. Krogh (ICRA, 1990)

Efficient computation of coordinating controls in hierarchical structures for failure-prone multicell flexible assembly systems. - Ramakrishna Akella; Bruce H. Krogh; Medini R. Singh (IEEE Trans. Robotics Autom., 1990)

Deadlock avoidance in flexible manufacturing systems with concurrently competing process flows. - Zbigniew Antoni Banaszak; Bruce H. Krogh (IEEE Trans. Robotics Autom., 1990)

Petri Net Tools for the Specification and Analysis of Discrete Controllers. - Reg G. Willson; Bruce H. Krogh (IEEE Trans. Software Eng., 1990)

Satisficing feedback strategies for local navigation of autonomous mobile robots. - Dai Feng; Bruce H. Krogh (IEEE Trans. Syst. Man Cybern., 1990)

Synthesis of feedback control logic for discrete manufacturing systems. - Bruce H. Krogh; Lawrence E. Holloway (Autom., 1991)

On condition/event systems with discrete state realizations. - R. S. Sreenivas; Bruce H. Krogh (Discret. Event Dyn. Syst., 1991)

Dynamic steering control of conventionally steered mobile robots. - Dai Feng; Bruce H. Krogh (J. Field Robotics, 1991)

Path planning for mobile manipulators for multiple task execution. - Wayne F. Carriker; Pradeep K. Khosla; Bruce H. Krogh (IEEE Trans. Robotics Autom., 1991)

On the computation of reference signal constraints for guaranteed tracking performance. - Timothy J. Graettinger; Bruce H. Krogh (Autom., 1992)

Condition/Event Systems: a Powerful Paradigm for Timed and Untimed Discrete Models of Technical Systems. - Sebastian Engell; Stefan Kowalewski; Bruce H. Krogh; Jörg Preußig (EUROSIM, 1995)

Refinements of Approximating Automata for Synthesis of Supervisory Controllers for Hybrid Systems. - Toshihiko Niinomi; Bruce H. Krogh; José E. R. Cury (Hybrid Systems, 1995)

Computing Approximating Automata for a Class of Linear Hybrid Systems. - Alongkrit Chutinan; Bruce H. Krogh (Hybrid Systems, 1997)

Controller Scheduling Using Neural Networks: Implementation and Experimental Results. - Enrique D. Ferreira 001; Bruce H. Krogh (Hybrid Systems, 1997)

A Survey of Petri Net Methods for Controlled Discrete Event Systems. - Lawrence E. Holloway; Bruce H. Krogh; Alessandro Giua (Discret. Event Dyn. Syst., 1997)

Switching Controllers Based on Neural Network: Estimates of Stability Regions and Controller Performance. - Enrique D. Ferreira 001; Bruce H. Krogh (HSCC, 1998)

Supervisor Synthesis for Real-Time Discrete Event Systems. - Archana S. Sathaye; Bruce H. Krogh (Discret. Event Dyn. Syst., 1998)

Synthesis of supervisory controllers for hybrid systems based on approximating automata. - José E. R. Cury; Bruce H. Krogh; Toshihiko Niinomi (IEEE Trans. Autom. Control., 1998)

Recent Developments in Modeling and Analysis of Hybrid Dynamic Systems (abstract). - Bruce H. Krogh (ICATPN, 1999)

Verification of Polyhedral-Invariant Hybrid Automata Using Polygonal Flow Pipe Approximations. - Alongkrit Chutinan; Bruce H. Krogh (HSCC, 1999)

Approximating Hybrid System Dynamics for Analysis and Control (Abstract). - Bruce H. Krogh (HSCC, 1999)

Robustness of supervisors for discrete-event systems. - José Eduardo Ribeiro Cury; Bruce H. Krogh (IEEE Trans. Autom. Control., 1999)

Approximating quotient transition systems for hybrid systems. - Alongkrit Chutinan; Bruce H. Krogh (ACC, 2000)

Formal verification of hybrid systems using CheckMate: a case study. - B. Izaias Silva; Bruce H. Krogh (ACC, 2000)

Distributed model predictive control. - Dong Jia; Bruce H. Krogh (ACC, 2001)

Stability regions for systems with mode transitions. - Hai-Long Pei; Bruce H. Krogh (ACC, 2001)

Mode-matching control policies for multi-mode Markov decision processes. - Zhiyuan Ren; Bruce H. Krogh (ACC, 2001)

Switching control in multi-mode Markov decision processes. - Zhiyuan Ren; Bruce H. Krogh (CDC, 2001)

Modeling and verification of hybrid systems with clocked and unclocked events. - B. Izaias Silva; Bruce H. Krogh (CDC, 2001)

An assessment of the current status of algorithmic approaches to the verification of hybrid systems. - B. Izaias Silva; Olaf Stursberg; Bruce H. Krogh; Sebastian Engell (CDC, 2001)

Supervision of Event-Driven Hybrid Systems: Modeling and Synthesis. - José M. E. González; Antonio Eduardo Carrilho da Cunha; José E. R. Cury; Bruce H. Krogh (HSCC, 2001)

Hybrid Systems Applications: An Oxymoron? - Alberto L. Sangiovanni-Vincentelli; Thomas A. Henzinger; Bruce H. Krogh; Oded Maler; Manfred Morari; Costas C. Pantelides; George J. Pappas; Tunc Simsec; Janos Sztipanovits; Stavros Tripakis (HSCC, 2001)

Stability-constrained model predictive control. - Xu Cheng; Bruce H. Krogh (IEEE Trans. Autom. Control., 2001)

Verification of infinite-state dynamic systems using approximate quotient transition systems. - Alongkrit Chutinan; Bruce H. Krogh (IEEE Trans. Autom. Control., 2001)

Adaptive control of Markov chains with average cost. - Zhiyuan Ren; Bruce H. Krogh (IEEE Trans. Autom. Control., 2001)

Min-max feedback model predictive control for distributed control with communication. - Dong Jia; Bruce H. Krogh (ACC, 2002)

On the operator Post-1. - Hai-Long Pei; Bruce H. Krogh (CDC, 2002)

State aggregation in Markov decision processes. - Zhiyuan Ren; Bruce H. Krogh (CDC, 2002)

On Control with Bounded Computational Resources. - Oded Maler; Bruce H. Krogh; Moez Mahfoudh (FTRTFT, 2002)

Context-Dependent Agents for Real-Time Scheduling in Manufacturing Systems. - Toshiyuki Miyamoto; Bruce H. Krogh; Sadatoshi Kumagai (IEICE Trans. Fundam. Electron. Commun. Comput. Sci., 2002)

Specification-Guided Analysis of Hybrid Systems Using a Hierarchy of Validation Methods. - Olaf Stursberg; Ansgar Fehnker; Zhi Han; Bruce H. Krogh (ADHS, 2003)

On Systematic Simulation of Open Continuous Systems. - James Kapinski; Bruce H. Krogh; Oded Maler; Olaf Stursberg (HSCC, 2003)

Efficient Representation and Computation of Reachable Sets for Hybrid Systems. - Olaf Stursberg; Bruce H. Krogh (HSCC, 2003)

Sentry-Based Power Management in Wireless Sensor Networks. - Jonathan Hui; Zhiyuan Ren; Bruce H. Krogh (IPSN, 2003)

Verification of Hybrid Systems Based on Counterexample-Guided Abstraction Refinement. - Edmund M. Clarke; Ansgar Fehnker; Zhi Han; Bruce H. Krogh; Olaf Stursberg; Michael Theobald (TACAS, 2003)

Abstraction and Counterexample-Guided Refinement in Model Checking of Hybrid Systems. - Edmund M. Clarke; Ansgar Fehnker; Zhi Han; Bruce H. Krogh; Joël Ouaknine; Olaf Stursberg; Michael Theobald (Int. J. Found. Comput. Sci., 2003)

Computational techniques for hybrid system verification. - Alongkrit Chutinan; Bruce H. Krogh (IEEE Trans. Autom. Control., 2003)

Reachability analysis of hybrid control systems using reduced-order models. - Zhi Han; Bruce H. Krogh (ACC, 2004)

Verifying asymptotic bounds for discrete-time sliding mode systems with disturbance inputs. - James Kapinski; Bruce H. Krogh (ACC, 2004)

Challenges and solution techniques for hybrid simulation. - Pieter Mostennan; Michael Clune; Bert van Beek; Bruce H. Krogh; Alberto L. Sangiovanni-Vincentelli (CDC, 2004)

Estimation in virtual sensor-actuator arrays using reduced-order physical models. - Haotian Zhang 002; Bruce H. Krogh; José M. F. Moura; Wei Zhang (CDC, 2004)

Towards formal verification of analog designs. - Smriti Gupta; Bruce H. Krogh; Rob A. Rutenbar (ICCAD, 2004)

Managing Verification Activities Using SVM. - Bill Aldrich; Ansgar Fehnker; Peter H. Feiler; Zhi Han; Bruce H. Krogh; Eric Lim; Shiva Sivashankar (ICFEM, 2004)

Energy-Efficient Surveillance System Using Wireless Sensor Networks. - Tian He 001; Sudha Krishnamurthy; John A. Stankovic; Tarek F. Abdelzaher; Liqian Luo; Radu Stoleru; Ting Yan; Lin Gu 001; Jonathan Hui; Bruce H. Krogh (MobiSys, 2004)

Industry needs for embedded control education. - James S. Freudenberg; Bruce H. Krogh (ACC, 2005)

Min-max feedback model predictive control with state estimation. - Dong Jia; Bruce H. Krogh (ACC, 2005)

Reachability Analysis for Affine Systems Using ε -Decomposition. - Zhi Han; Bruce H. Krogh (CDC/ECC, 2005)

Distributed Model Predictive Control for the Mitigation of Cascading Failures. - Sarash Talukdar; Dong Jia; Paul Hines; Bruce H. Krogh (CDC/ECC, 2005)

Refining Abstractions of Hybrid Systems Using Counterexample Fragments. - Ansgar Fehnker; Edmund M. Clarke; Sumit Kumar Jha 001; Bruce H. Krogh (HSCC, 2005)

An Ontology-Based Approach to Heterogeneous Verification of Embedded Control Systems. - Rajesh Kumar 005; Bruce H. Krogh; Peter H. Feiler (HSCC, 2005)

Estimation in sensor networks: a graph approach. - Haotian Zhang 002; José M. F. Moura; Bruce H. Krogh (IPSN, 2005)

Lightweight detection and classification for wireless sensor networks in realistic environments. - Lin Gu 001; Dong Jia; Pascal Vicaire; Ting Yan; Liqian Luo; Ajay Tirumala; Qing Cao 001; Tian He 001; John A. Stankovic; Tarek F. Abdelzaher; Bruce H. Krogh (SenSys, 2005)

Time Domain Verification of Oscillator Circuit Properties. - Goran Frehse; Bruce H. Krogh; Rob A. Rutenbar; Oded Maler (FAC, 2005)

Markov decision Processes with fractional costs. - Zhiyuan Ren; Bruce H. Krogh (IEEE Trans. Autom. Control., 2005)

Hierarchical Adaptive Dynamic Power Management. - Zhiyuan Ren; Bruce H. Krogh; Radu Marculescu (IEEE Trans. Computers, 2005)

Undergraduate embedded system education at Carnegie Mellon. - Philip Koopman; Howie Choset; Rajeev Gandhi; Bruce H. Krogh; Diana Marculescu; Priya Narasimhan; JoAnn M. Paul; Ragunathan Rajkumar; Daniel P. Siewiorek; Asim Smailagic; Peter Steenkiste; Donald E. Thomas; et al. (ACM Trans. Embed. Comput. Syst., 2005)

Reachability analysis of nonlinear systems using trajectory piecewise linearized models. - Zhi Han; Bruce H. Krogh (ACC, 2006)

Heterogeneous verification of embedded control systems. - Rajesh Kumar 005; Bruce H. Krogh (ACC, 2006)

Verifying analog oscillator circuits using forward/backward abstraction refinement. - Goran Frehse; Bruce H. Krogh; Rob A. Rutenbar (DATE, 2006)

Reachability Analysis of Large-Scale Affine Systems Using Low-Dimensional Polytopes. - Zhi Han; Bruce H. Krogh (HSCC, 2006)

Inner Source Identification for Field Estimation in Wireless Sensor Networks. - Haotian Zhang 002; Bruce H. Krogh; José M. F. Moura (ICASSP (4), 2006)

High-Confidence Medical Device Software and Systems. - Insup Lee 001; George J. Pappas; Rance Cleaveland; John Hatcliff; Bruce H. Krogh; Peter Lee 001; Harvey Rubin; Lui Sha (Computer, 2006)

Hybrid System Verification Is not a Sinecure - the Electronic Throttle Control Case Study. - Ansgar Fehnker; Bruce H. Krogh (Int. J. Found. Comput. Sci., 2006)

Formal verification of statecharts using finite-state model checkers. - Qianchuan Zhao; Bruce H. Krogh (IEEE Trans. Control. Syst. Technol., 2006)

VigilNet: An integrated sensor network system for energy-efficient surveillance. - Tian He 001; Sudha Krishnamurthy; Liqian Luo; Ting Yan; Lin Gu 001; Radu Stoleru; Gang Zhou; Qing Cao 001; Pascal Vicaire; John A. Stankovic; Tarek F. Abdelzaher; Jonathan Hui; et al. (ACM Trans. Sens. Networks, 2006)

A New Logic Programming Framework for Heterogeneous Verification of Embedded Control Systems. - Rajesh Kumar 005; Bruce H. Krogh (ACC, 2007)

Integration of Formal Analysis into a Model-Based Software Development Process. - Michael W. Whalen; Darren D. Cofer; Steven P. Miller; Bruce H. Krogh; Walter Storm (FMICS, 2007)

From Analysis to Design. - Bruce H. Krogh (FORMATS, 2007)

Reachability for Linear Hybrid Automata Using Iterative Relaxation Abstraction. - Sumit Kumar Jha 001; Bruce H. Krogh; James E. Weimer; Edmund M. Clarke (HSCC, 2007)

Hierarchical modeling of mode-switching systems. - James E. Weimer; Bruce H. Krogh (SCSC, 2007)

Model checking in-the-loop: Finding counterexamples by systematic simulation. - Flavio Lerda; James Kapinski; Hitashyam Maka; Edmund M. Clarke; Bruce H. Krogh (ACC, 2008)

Saturation-induced instability in electric power systems. - Juhua Liu; Bruce H. Krogh; Marija D. Ilic (ACC, 2008)

Performance bounds on state-feedback controllers with network delay. - Ajinkya Bhave; Bruce H. Krogh (CDC, 2008)

Control software model checking using bisimulation functions for nonlinear systems. - James Kapinski; Alexandre Donzé; Flavio Lerda; Hitashyam Maka; Silke Wagner; Bruce H. Krogh (CDC, 2008)

A Counterexample-Guided Approach to Parameter Synthesis for Linear Hybrid Automata. - Goran Frehse; Sumit Kumar Jha 001; Bruce H. Krogh (HSCC, 2008)

Verification of Supervisory Control Software Using State Proximity and Merging. - Flavio Lerda; James Kapinski; Edmund M. Clarke; Bruce H. Krogh (HSCC, 2008)

A Relaxation Approach to Dynamic Sensor Selection in Large-Scale Wireless Networks. - James E. Weimer; Bruno Sinopoli; Bruce H. Krogh (ICDCS Workshops, 2008)

Parameter Synthesis for Hybrid Systems with an Application to Simulink Models. - Alexandre Donzé; Bruce H. Krogh; Akshay Rajhans (HSCC, 2009)

Multiple Source Detection and Localization in Advection-Diffusion Processes Using Wireless Sensor Networks. - James E. Weimer; Bruno Sinopoli; Bruce H. Krogh (RTSS, 2009)

An Architectural Approach to the Design and Analysis of Cyber-Physical Systems. - Akshay Rajhans; Shang-Wen Cheng; Bradley R. Schmerl; David Garlan; Bruce H. Krogh; Clarence Agbi; Ajinkya Bhave (Electron. Commun. Eur. Assoc. Softw. Sci. Technol., 2009)

Dynamic field estimation using wireless sensor networks: tradeoffs between estimation error and communication cost. - Haotian Zhang 002; José M. F. Moura; Bruce H. Krogh (IEEE Trans. Signal Process., 2009)

On incrementally bounded systems. - James Kapinski; Bruce H. Krogh (ACC, 2010)

Robust control design for frequency regulation in power systems with high wind penetration. - Juhua Liu; Bruce H. Krogh; Marija D. Ilic (ACC, 2010)

A hierarchical approach to energy management in data centers. - Luca Parolini; Emanuele Garone; Bruno Sinopoli; Bruce H. Krogh (CDC, 2010)

A cyber-physical systems approach to energy management in data centers. - Luca Parolini; Niraj Tolia; Bruno Sinopoli; Bruce H. Krogh (ICCPS, 2010)

On Zone-Based Analysis of Duration Probabilistic Automata - Oded Maler; Kim G. Larsen; Bruce H. Krogh (INFINITY, 2010)

Passivity-based robust control for power systems subject to wind power variability. - Juhua Liu; Bruce H. Krogh; B. Erik Ydstie (ACC, 2011)

Zonotope bundles for the efficient computation of reachable sets. - Matthias Althoff; Bruce H. Krogh (CDC/ECC, 2011)

Using parameters in architectural views to support heterogeneous design and verification. - Akshay Rajhans; Ajinkya Bhave; Sarah M. Loos; Bruce H. Krogh; André Platzer; David Garlan (CDC/ECC, 2011)

Reachable set computation for uncertain time-varying linear systems. - Matthias Althoff; Colas Le Guernic; Bruce H. Krogh (HSCC, 2011)

View Consistency in Architectures for Cyber-Physical Systems. - Ajinkya Bhave; Bruce H. Krogh; David Garlan; Bradley R. Schmerl (ICCPS, 2011)

Wind Integration in Power Systems: Operational Challenges and Possible Solutions. - Le Xie 001; Pedro M. S. Carvalho; Luis A. F. M. Ferreira; Juhua Liu; Bruce H. Krogh; Nipun Popli; Marija D. Ilic (Proc. IEEE, 2011)

Using theorem provers to guarantee closed-loop system properties. - Nikos Aréchiga; Sarah M. Loos; André Platzer; Bruce H. Krogh (ACC, 2012)

Parameter identifiability for multi-zone building models. - Clarence Agbi; Zhen Song 001; Bruce H. Krogh (CDC, 2012)

Avoiding geometric intersection operations in reachability analysis of hybrid systems. - Matthias Althoff; Bruce H. Krogh (HSCC, 2012)

Heterogeneous verification of cyber-physical systems using behavior relations. - Akshay Rajhans; Bruce H. Krogh (HSCC, 2012)

Using smart devices for system-level management and control in the smart grid: A reinforcement learning framework. - Emre Can Kara; Mario Berges; Bruce H. Krogh; Soummya Kar (SmartGridComm, 2012)

A Cyber-Physical Systems Approach to Data Center Modeling and Control for Energy Efficiency. - Luca Parolini; Bruno Sinopoli; Bruce H. Krogh; Zhikui Wang (Proc. IEEE, 2012)

Compositional heterogeneous abstraction. - Akshay Rajhans; Bruce H. Krogh (HSCC, 2013)

A moving horizon state estimator in the control of thermostatically controlled loads for demand response. - Emre Can Kara; J. Zico Kolter; Mario Berges; Bruce H. Krogh; Gabriela Hug; Tugçe Yüksel (SmartGridComm, 2013)

Formal verification of phase-locked loops using reachability analysis and continuization. - Matthias Althoff; Akshay Rajhans; Bruce H. Krogh; Soner Yaldiz; Xin Li 001; Larry T. Pileggi (Commun. ACM, 2013)

Decentralized identification of building models. - Clarence Agbi; Bruce H. Krogh (ACC, 2014)

Using verified control envelopes for safe controller design. - Nikos Aréchiga; Bruce H. Krogh (ACC, 2014)

Numerically-aided Deductive Safety Proof for a Powertrain Control System. - Nikos Aréchiga; James Kapinski; Jyotirmoy V. Deshmukh; André Platzer; Bruce H. Krogh (NSV, 2014)

Reachability Analysis of Nonlinear Differential-Algebraic Systems. - Matthias Althoff; Bruce H. Krogh (IEEE Trans. Autom. Control., 2014)

Supporting Heterogeneity in Cyber-Physical Systems Architectures. - Akshay Rajhans; Ajinkya Bhave; Ivan Ruchkin; Bruce H. Krogh; David Garlan; André Platzer; Bradley R. Schmerl (IEEE Trans. Autom. Control., 2014)

Forward invariant cuts to simplify proofs of safety. - Nikos Aréchiga; James Kapinski; Jyotirmoy V. Deshmukh; André Platzer; Bruce H. Krogh (EMSOFT, 2015)

Stochastic Simulator for Smart Microgrid Planning. - Jesse Thornburg; Bruce H. Krogh; Taha Selim Ustun (ACM DEV, 2016)

Software Rejuvenation for Secure Tracking Control. - Raffaele Romagnoli; Bruce H. Krogh; Dionisio de Niz; Bruno Sinopoli (CoRR, 2018)

Design of Software Rejuvenation for CPS Security Using Invariant Sets. - Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (ACC, 2019)

Secure Networked Control via Software Rejuvenation. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (CDC, 2019)

Safety and Liveness of Software Rejuvenation for Secure Tracking Control. - Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (ECC, 2019)

Secure Networked Control for Decentralized Systems via Software Rejuvenation. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (ACC, 2020)

Robust Software Rejuvenation for CPS with State Estimation and Disturbances. - Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (ACC, 2020)

Decentralized Event-Triggered Control in the Presence of Adversaries. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (CDC, 2020)

Resilient Control in the Presence of Man-in-the-Middle Attacks. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (ACC, 2021)

Reducing Attack Vulnerabilities Through Decentralized Event-Triggered Control. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (CDC, 2021)

Runtime System Support for CPS Software Rejuvenation. - Raffaele Romagnoli; Bruce H. Krogh; Dionisio de Niz; Anton Dimov Hristozov; Bruno Sinopoli (IEEE Trans. Emerg. Top. Comput., 2023)

Software Rejuvenation for Safe Operation of Cyber-Physical Systems in the Presence of Run-Time Cyberattacks. - Raffaele Romagnoli; Bruce H. Krogh; Dionisio de Niz; Anton Dimov Hristozov; Bruno Sinopoli (IEEE Trans. Control. Syst. Technol., 2023)

Reducing Attack Opportunities Through Decentralized Event-Triggered Control. - Paul Griffioen; Raffaele Romagnoli; Bruce H. Krogh; Bruno Sinopoli (IEEE Trans. Control. Netw. Syst., 2024)

Ensuring Resilience Against Stealthy Attacks on Cyber-Physical Systems. - Paul Griffioen; Bruce H. Krogh; Bruno Sinopoli (IEEE Trans. Autom. Control., 2024)