📡 OPHI Kernel — Ω-Control Architecture with SE44-R Safety Enforcement
📡 OPHI Kernel — Ω-Control Architecture with SE44-R Safety Enforcement
Hybrid Stability-Control Framework with Bounded Ω Injection
Overview
OPHI Kernel is a control-systems research implementation demonstrating how a symbolic augmentation operator (Ω) can be embedded within a rigorously certified stability architecture.
The repository implements:
Discrete-time LTI state-space plant
LQR-based stabilizing baseline controller
Ω adaptive injection operator
SE44-R multi-mode supervisory safety gate (GREEN / AMBER / RED)
Lyapunov-certified invariant set
Barrier-based forward invariance projection
Recovery under bounded stochastic disturbance
The objective is to transform Ω from abstract operator into a numerically enforceable, safety-bounded control augmentation mechanism.
1. Core Control Architecture
1.1 Plant Model
𝑥
𝑘
+
1
=
𝐴
𝑥
𝑘
+
𝐵
𝑢
𝑘
+
𝑤
𝑘
x
k+1
=Ax
k
+Bu
k
+w
k
Linear time-invariant discrete system
Bounded disturbance injection
Fully measurable state
1.2 Baseline Stabilizer
Discrete LQR controller:
𝑢
𝑏
𝑎
𝑠
𝑒
=
−
𝐾
𝑥
u
base
=−Kx
Where:
𝐾
K obtained via discrete Riccati equation
𝐴
−
𝐵
𝐾
A−BK is Schur stable
Lyapunov matrix
𝑃
P computed via:
𝐴
𝑐
𝑙
𝑇
𝑃
𝐴
𝑐
𝑙
−
𝑃
=
−
𝑄
A
cl
T
PA
cl
−P=−Q
Energy function:
𝑉
(
𝑥
)
=
𝑥
𝑇
𝑃
𝑥
V(x)=x
T
Px
This provides:
Certified closed-loop contraction
Practical disturbance rejection
Bounded input-to-state stability (ISS)
2. Ω Injection Operator
Canonical discrete form:
Ω
𝑘
=
𝛼
𝑘
(
𝑦
𝑘
+
𝑑
^
𝑘
)
Ω
k
=α
k
(y
k
+
d
^
k
)
Where:
𝑦
𝑘
y
k
is a measurable state component
𝑑
^
𝑘
d
^
k
is EWMA disturbance estimate
𝛼
𝑘
α
k
is bounded adaptive gain
Control law:
𝑢
𝑘
=
sat
(
−
𝐾
𝑥
𝑘
+
𝜌
𝑘
Ω
𝑘
)
u
k
=sat(−Kx
k
+ρ
k
Ω
k
)
𝜌
𝑘
∈
[
0
,
1
]
ρ
k
∈[0,1] is the SE44-R injection weight.
3. SE44-R Multi-Mode Supervisory Gate
GREEN — Nominal Mode
Full Ω injection allowed
α increases within bounds
Invariant region maintained
AMBER — Recovery Mode
Injection weight ramps down
Hysteresis prevents chatter
Recovery metrics must hold for N steps
RED — Hard Safety Mode
Ω disabled (
𝜌
=
0
ρ=0)
Baseline stabilizer only
Barrier projection enforced
This structure eliminates binary deadlock and ensures recoverability.
4. Barrier Safety Layer
Invariant safe set:
𝑥
𝑇
𝑃
𝑥
≤
𝑐
x
T
Px≤c
Barrier projection ensures:
𝑉
(
𝑥
𝑘
+
1
)
≤
𝑐
V(x
k+1
)≤c
If candidate control violates the invariant condition, control is scaled until safety holds.
This guarantees:
Forward invariance
No runaway instability
Certified bounded operation
5. Stability Properties
The architecture provides:
Schur stability of baseline closed loop
Lyapunov-certified boundedness
Barrier-enforced forward invariance
Bounded Ω injection energy
Mode-based hysteretic recovery
Resulting properties:
Practical ISS under bounded disturbance
Controlled augmentation without destabilization
Recovery without freeze/deadlock
Safe-set re-entry after disturbance spikes
6. Repository Structure
ophi-kernel/
│
├── plant.py
├── lqr_design.py
├── lyapunov_certificate.py
├── omega_operator.py
├── se44r_gate.py
├── barrier_filter.py
├── simulation.py
└── plots/
7. Simulation Outputs
State trajectory under disturbance
Lyapunov energy evolution
Control input
Ω injection weight (ρ)
SE44 metrics (C, S, RMS)
Mode transitions
Demonstrates:
Recovery after disturbance spikes
Automatic injection attenuation
No divergence
Certified invariant set preservation
8. Design Objectives
Embed symbolic Ω operator into control-theoretic framework
Enforce measurable safety invariants
Allow adaptive augmentation without destabilization
Preserve recovery pathway instead of binary shutdown
Maintain formalizable stability guarantees
9. Mathematical Foundations
Discrete Algebraic Riccati Equation (DARE)
Discrete Lyapunov Stability
Input-to-State Stability (ISS)
Control Barrier Function–inspired projection
Hybrid supervisory switching systems
Hysteresis-based mode logic
Status
Prototype research implementation.
Simulation verified.
Barrier layer currently line-search scaled (QP formulation recommended for production).
Formal theorem statements and bounded injection proofs pending.
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