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Document formulas in Excel like code with N() function

The simplest way to start documenting Excel formulas like a coder is by using the N () function. Although its primary job is to convert non-numeric values into numbers, it has a hidden quirk: because ...
IEEE

Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints

Abstract: We introduce Exponential Control Barrier Functions as means to enforce strict state-dependent high relative degree safety constraints for nonlinear systems. We also develop a systematic ...