A Safety-Aware State-Machine Wrapper for Legacy PID Loops with a Head-to-Head Comparison to Control Barrier Function Safety Filters
Published in In preparation for IEEE Robotics and Automation Letters (RA-L), 2026
Recommended citation: Thapa S. "A Safety-Aware State-Machine Wrapper for Legacy PID Loops with a Head-to-Head Comparison to Control Barrier Function Safety Filters." In preparation for IEEE Robotics and Automation Letters (RA-L).
A discrete-event guard architecture that wraps legacy PID loops as a safety layer with provable input-boundedness, integrator-boundedness, and bumpless-transfer properties, compared head-to-head against CBF-QP safety filters on systems lacking a clean analytical invariant set.