Publications

O. Ziadi, S. I. Kaitouni, A. Rochd and A. Saoud, " Safety-Certified Multi-Agent Reinforcement Learning for Energy-Efficient HVAC Control of Residential Building Clusters", Submitted for Publication, 2026.

A. Saoud, A. Makdesi, M. Maghenem, A. Girard and M. Arcak "Complete Abstractions of Monotone Control Systems: From Model-based to Data-Driven Systems", Submitted for Publication, 2026.

Y. Takayama, A. Iovine, B. Besselink, G. Sandou and A. Saoud, "Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control", Submitted for Publication, 2026.

Y. Ait si, R. Das, N. Monir, S. Soudjani, P. Jagtap and A. Saoud, “Resilient and Effort-Optimal Controller Synthesis under Temporal Logic Specifications,” Submitted for Publication, 2026.

A. Saoud, R. S. Johnson and R. G. Sanfelice, “Robust Hybrid Finite-Time Parameter Estimation Without Persistence of Excitation” Submitted for Publication, 2026.

O. Reynaud, M. Maghenem, A. Saoud, S. B. Alaoui, A. Hably, “Nagumo Theorem For Constrained Differential Inclusions: Transversal Intersection and Set Regularity", Submitted for Publication, 2026.

Z. Benhamidouch, S. B. Alaoui, A. Abbou and A. Saoud, “A Model-Free Infinite Horizon Guaranteed Cost Control in One-sided Lipschitz nonlinear Systems,” Submitted for Publication, 2026. 

S. Saharsh, S. B. Alaoui, A. Swikir, P. Jagtap and A. Saoud, "Compositional Approximately Bisimilar Abstractions of Stochastic Interconnected Systems", Submitted for Publication, 2026.

Y. Ait Si, S. B. Alaoui and A. Saoud, “Robustness Margins for Delays, Disturbances, and Measurement Noise in Incrementally Stable Systems via Approximate Bisimulation,” Submitted for Publication, 2026.

Y. Ait Si, A. Girard, A. Saoud, "Specification-aware Robustness Margins for Symbolic Controllers," Submitted for Publication, 2026.

M. A. Ouchdiri, S. Benjelloun, M. Maghenem and A. Saoud, “Certified Reachable Sets for Nonlinear Reaction--Diffusion Systems under Uncertainty,” IEEE Control Systems Letters (L-CSS), 2026.

Y. Takayama, A. Saoud, A. Iovine and G. Sandou, “User-friendly Implementation of Recurring Switching Rules via Temporal Logic: Industrial Power System Case Study” Nonlinear Analysis: Hybrid System, NAHS, 2026.

R. Das, N. Monir, Y. Ait si, A. Saoud  S. Soudjani and P. Jagtap, “Temporal Logic Resilience For Continuous-time Systems” Nonlinear Analysis: Hybrid System, NAHS, 2026.

S. B. Alaoui, A. Saoud, A. Hmamed, J. R. Alejandro and E. H. Tissir, "Small-Gain Theorem-Based Stability Analysis of Two-Dimensional Systems with Time Delays", Journal of the Franklin Institute, 2026.

S. Liu, A. Saoud and D. V. Dimarogonas, “Controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent Systems via Assume–Guarantee Contracts,” IEEE Transactions on Automatic Control, 2025.

G. Masoumeh, M. Maghenem and A. Saoud, “Sufficient conditions for robust safety in differential inclusions using barrier functions,” Automatica, 2025 Jan 1, vol. 171, p. 111938. 

Y. Ait si, A. Girard and A. Saoud, “Symbolic control: Unveiling free robustness margins,” European Journal of Control, 2025.

A. Saoud, P. Jagtap and S. Soudjani, “Temporal Logic Resilience for Dynamical Systems,” IEEE Transactions on Automatic Control, 2025.

M. A. Ouchdiri, S. Benjelloun, A. Saoud and I. O. Muras, “Turing Patterns in a Morphogenetic Model with Single Regulatory Function,” Mathematical Biosciences, 2025.

A. Girard, P. J. Meyer and A. Saoud, "Approches symboliques pour le contrôle des systèmes non linéaires". Techniques de l'Ingénieur, 2024.

A. Saoud and M. Arcak, “Characterization, verification and computation of robust controlled invariants for monotone dynamical systems,” Mathematics of Control, Signals, and Systems, 2024.

A. Saoud, M. Maghenem, A. Loria and R. G. Sanfelice, “Hybrid Persistency of Excitation in Adaptive Estimation for Hybrid Systems,” IEEE Transactions on Automatic Control, 2024.

L. Jouret, A. Saoud and S. Olaru, “Safety Verification of Neural-Network-based Controllers: A Set Invariance Approach,” IEEE Control Systems Letters, 2024.

E. Ivanova*, A. Saoud* and A. Girard, “Lazy Controller Synthesis for Monotone Transition Systems and Directed Safety Specifications,” Automatica, vol. 135, p. 109993, 2022. (*contributed equally).

K. Hashimoto, A. Saoud, M. Kishida, T. Ushio and D. V. Dimarogonas, “Learning-based symbolic abstractions for nonlinear control systems ,” Automatica, 2022 Dec 1. vol. 146, p. 110646. 

J. Jerray, A. Saoud and L. Fribourg, “Asymptotic Error in Euler’s Method with a Constant Step Size,” European Journal of Control (EJC), 2022.

J. Jerray, A. Saoud and L. Fribourg, “Using Euler’s Method to Prove the Convergence of Neural Networks,” IEEE Control Systems Letters (L-CSS), 2022.

S. W. Smith, A. Saoud and M. Arcak, “Monotonicity-Based Symbolic Control for Safety in Driving Scenarios ,” IEEE Control Systems Letters (L-CSS), vol. 6, no. 3, pp. 830–835, 2022.

A. Saoud, A. Girard and L. Fribourg, “Assume-guarantee Contracts for Continuous-time Systems,” Automatica, vol. 66, no. 134, p. 109910, 2021.

A. Saoud, P. Jagtap, M. Zamani and A. Girard, “Compositional Abstraction-based Synthesis for Interconnected Systems: An Approximate Composition Approach,” IEEE Transactions on Control of Network Systems, vol. 8, no. 2, pp. 702–712, 2021.

A. Saoud, A. Girard and L. Fribourg, “Contract-based Design of Symbolic Controllers for Safety in Distributed Multiperiodic Sampled-Data Systems,” IEEE Transactions on Automatic Control, vol. 66, no. 3, pp. 1055–1070, 2020.

K. Hashimoto, A. Saoud, M. Kishida, T. Ushio and D. V. Dimarogonas, “A Symbolic Approach to the Self-Triggered Design for Networked Control Systems,” IEEE Control Systems Letters (L-CSS), vol. 3, no. 4, pp. 1050–1055, 2019.

A. Saoud and A. Girard, “Optimal Multirate Sampling in Symbolic Models for Incrementally Stable Switched Systems ,” Automatica, vol. 98, pp. 58–65, 2018.

O. C. Dekkaki, S. B. Alaoui, O. Reynaud, M. Maghenem, A. Iovine and A. Saoud, “Invariance is Compositional for Continuous-time Systems: From Sleekness to Lebesgue Density”, IEEE Conference on Decision and Control (CDC), 2026. 

S.B. Alaoui, E. W. Wembe Junior and A. Saoud, “Algebraic Characterization of Time-Varying Set Invariance”, IEEE Conference on Decision and Control (CDC), 2026. 

M. A. Ouchdiri, M. Maghenem, S. Benjelloun and A. Saoud, “Certified Reachable Sets for Nonlinear Reaction-Diffusion Systems under Uncertainty”, IEEE Conference on Decision and Control (CDC), 2026.

M. A. Ouchdiri, M. C. Belhadjoudja M. Maghenem, S. Benjelloun and A. Saoud, “H2 Stabilization of the 2-D and 3-D Heat Equation via Modal Decomposition”, IEEE Conference on Decision and Control (CDC), 2026.

Bouri, M., Erradi, M., & Saoud, A. (2026). "S-GBT: Smooth Growth Bound Tensor for Certified Robustness Against Word Substitution Attacks in NLP", International Conference on Networked Systems: NETYS 2026

O. Ziadi, A. Rochd,S. I. Kaitouni, M. O. Mghazli and A. Saoud, " Safe Deep Reinforcement Learning for Energy-Efficient HVAC Control in Multi-Zone Residential Buildings", IEEE Conference on Control Technology and Applications (CCTA), 2026.

E. W. Wembe Junior, A. Saoud, “A Trajectory-Based Approach to Controlled Invariance and Recursively Feasible MPC,” European Control Conference, ECC, 2026.  

R. Das, N. Monir, Y. Ait si, A. Saoud  S. Soudjani and P. Jagtap, “Temporal Logic Resilience For Continuous-time Systems” IFAC World Congress, 2026.

M. Bouri, M. Erradi and A. Saoud, “ART: Attention-Regularized Transformers for Multi-Modal Robustness,” Findings of the European Association for Computational Linguistics: EACL 2026, pp. 5510-5535, 2026.

Z. Hadach, H. El Hammouti, E. Bergou and A. Saoud, “Just Few States are Enough: Randomized Sparse Feedback for Stability of Dynamical Systems,”  In : Proceedings of the AAAI Conference on Artificial Intelligence. 2026.

Y. Ait si, A. Girard and A. Saoud, “Symbolic control: Unveiling free robustness margins,” European Control Conference, ECC, 2025. Top 3 Finalist of the Best Student Paper Award.

M. Bouri and A. Saoud, “Bridging Robustness and Generalization Against Word Substitution Attacks in NLP via the Growth Bound Matrix Approach,” Findings of the Association for Computational Linguistics: ACL 2025, pp. 12118–12137, 2025.

Y. Ait si, R. Das, N. Monir, S. Soudjani, P. Jagtap and A. Saoud, “Maximally Resilient Controllers under Temporal Logic Specifications,” IEEE Conference on Decision and Control (CDC), 2025. Top 5 Finalist of the 2026 IEEE CSS Hybrid Systems TC Outstanding Student Paper Prize.

N. Monir, Y. Ait Si, R. Das, P. Jagtap, A. Saoud and S. Soudjani, “Computation of Feasible Assume-Guarantee Contracts: A Resilience-based Approach,” IEEE Conference on Decision and Control (CDC), 2025.

O. Reynaud, M. Maghenem, A. Saoud, S. B. Alaoui, A. Hably, “Nagumo-Type Characterization of Forward Invariance for Constrained Systems,” IEEE Conference on Decision and Control (CDC), 2025.

M. A. Ouchdiri, F. Hamza, S. Benjelloun, M. Maghenem, I. O. Muras, A. Saoud, “An optimal-control framework for reaction diffusion systems with application to synthetic developmental biology,” IEEE Conference on Decision and Control (CDC), 2025.

S.B. Alaoui, A. Saoud, “How to discretize continuous-state action spaces in Q-learning: A symbolic control approach,” IEEE Conference on Decision and Control (CDC) 2024 (pp. 8314-8319). 

Z. Benhamidouch, S.B. Alaoui, A. Abbou and A. Saoud, “A Q-Learning Approach to Model-Free Infinite Horizon Control for Linear Time Delay Systems,” IEEE Conference on Decision and Control (CDC) 2024 (pp. 3335-3340). 

B. Jeloka, F. Nicolaau, A. Saoud, R. N. Banavar, “Data-Driven Control of Adaptive Cruise Control Systems Using Differential Flatness and Gaussian Processes,” IEEE American Control Conference (ACC) 2024 (pp. 5094-5099). 

B. Altiner, A. Saoud, A. Caldas, M. Makarov, “Scenario Convex Programs for Dexterous Manipulation under Modeling Uncertainties,” IEEE International Conference on Automation Science and Engineering (CASE) 2024 (pp. 3490-3497). 

H. El Hammouti, A. Saoud, A. Enakhami, and E. H. Bergou, “Energy Efficient Aerial RIS: Phase Shift Optimization and Trajectory Design,” IEEE Vehicular Technology Conference (VTC) (pp. 1-7). 

Y. Takayama, A. Saoud, and A. Iovine, “Power management via STL specifications of a DC microgrid integrating renewables and storage devices: A smart railway station case study,” IFAC Symposium on Control of Power and Energy Systems, CPES , IFAC-PapersOnLine. 2024 Jan 1. vol. 58, no. 13, pp. 502-8. 

Y. Takayama, A. Saoud, and A. Iovine, “Iterative Optimization-based Control of a Class of Mixed Logical Dynamical Systems with STL Specifications: A Case Study on Microgrids,” IFAC Conference on Nonlinear Model Predictive Control, NMPC, IFAC-PapersOnLine. 2024 Jan 1. vol. 58, no. 18, pp. 15-20. 

E.W. Wembe Junior, A. Saoud, “On Robust Controlled Invariants for Continuous-time Monotone Systems,” IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine. 2024 Jan 1. vol. 58, no. 11, pp. 135-40.  Best repeatability award.

S.B. Alaoui, A. Saoud, “Contract-Based Design for Hybrid Dynamical Systems and Invariance Properties,” IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine. 2024 Jan 1, vol. 58 no. 11, pp. 189-94. 

S.B. Alaoui, A. Saoud, “Necessary and Sufficient Conditions of Forward Invariance in Hybrid Dynamical Systems: An LMI Approach,” IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine. 2024 Jan 1. vol. 58, no. 11, pp. 153-8. 

A. Saoud, P. Jagtap, and S. Soudjani, “Temporal Logic Resilience for Cyber-Physical Systems,” IEEE Conference on Decision and Control (CDC), 2023 , (pp. 2066-2071). 

D.S. Sundarsingh, J. Bhagiya, J. Chatrola, A. Saoud, P. Jagtap, “Scalable Distributed Controller Synthesis for Multi-Agent Systems using Barrier Functions and Symbolic Control,” IEEE Conference on Decision and Control (CDC), 2023 (pp. 6436-6441). 

S.B. Alaoui, A. Saoud, P. Jagtap, and A. Swikir, “Symbolic Models for Interconnected Impulsive Systems,” IEEE Conference on Decision and Control (CDC), 2023, (pp. 5900-5905). 

S. Gorantla, J. Chatrola, J. Bhagiya, A. Saoud and P. Jagtap, “Funnel-based Reachability Control of Unknown Nonlinear Systems using Gaussian Processes,” Indian Control Conference (ICC), 2022, (pp. 188-193). 

A. Saoud, M. Arcak, “Characterization and Computation of Controlled Invariants for Monotone Systems,” IEEE Conference on Decision and Control (CDC), 2022, (pp. 4990-4995). 

J. Jeray, A. Saoud and L. Fribourg, “Using Euler’s Method to Prove the Convergence of Neural Networks,” Conference on Decision and Control (CDC), 2022. 

S. Liu, A. Saoud, P. Jagtap, D. V. Dimarogonas and M. Zamani, “Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts,” IEEE Conference on Decision and Control (CDC), 2022 (pp. 2184-2189). 

M. Maghenem, A. Saoud and A. Loria, “Distributed Hybrid Gradient Algorithm with Application to Cooperative Adaptive Estimation,” Proceedings of the 25th ACM International Conference on Hybrid Systems: Computation and Control 2022 May 4 (pp. 1-10). 

J. Jeray, A. Saoud and L. Fribourg, “Asymptotic Error in Euler’s Method with a Constant Step Size,” European Control Conference, ECC., 2022. 

M. Maghenem, A. Saoud and A. Loria, “Adaptive Control/Identification for Hybrid Systems, Part II: with Linear-growth-order Discrete Regressor,” IEEE American Control Conference (ACC) 2022 (pp. 3917-3922). 

A. Devonport*, A. Saoud* and M. Arcak, “Symbolic Abstractions From Data: A PAC Learning Approach,” IEEE Conference on Decision and Control (CDC), 2021 (pp. 599-604).  (*contributed equally).

G. Masoumeh, M. Maghenem and A. Saoud, “Barrier Functions for Robust Safety in Differential Inclusions, Part I: Sufficient Conditions,” IEEE Conference on Decision and Control (CDC), 2021 (pp. 5338-5343).

R. S. Johnson, A. Saoud and R. G. Sanfelice, “Robust Finite-Time Parameter Estimation for Linear Dynamical Systems,” IEEE Conference on Decision and Control (CDC) 2021 (pp. 4654-4659).

A. Saoud and R. G. Sanfelice, “Computation of Controlled Invariants for Nonlinear Systems: Application to Safe Neural Networks Approximation and Control,”  IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine, 2021 Jan. vol. 54, no. 5, pp.91-96. 

A. Saoud, M. Maghenem and R. G. Sanfelice, “A Hybrid Gradient Algorithm for Linear Regression with Hybrid Signals ,” IEEE American Control Conference (ACC) 2021 (pp. 4997-5002). 

A. Saoud and R. G. Sanfelice, “A Robust Hybrid Finite Time Parameter Estimator Without Persistence of Excitation,” IEEE American Control Conference (ACC) 2021 (pp. 3975-3980). 

A. Saoud, E. Ivanova and A. Girard, “Efficient Synthesis for Monotone Transition Systems and Directed Safety Specifications,” IEEE Conference on Decision and Control (CDC), 2019 (pp. 6255-6260). 

D. Zonetti, A. Saoud, A. Girard and L. Fribourg, “Decentralized Monotonicity-based Voltage Control of DC Microgrids with ZIP Loads,” IFAC Workshop on Distributed Estimation and Control in Networked Systems NECSYS, 2019,  IFAC-PapersOnLine vol. 52, no. 20, 139-144. 

D. Zonetti, A. Saoud, A. Girard and L. Fribourg, “A Symbolic Approach to Voltage Stability and Power Sharing in Time-varying DC Microgrids,” European control conference (ECC), 2019, (pp. 903-909). 

Z. Kader, A. Saoud and A. Girard, “Safety Controller Design for Incrementally Stable Switched Systems Using Event-based Symbolic Models,” European Control Conference (ECC), 2019 (pp. 1269-1274). 

A. Saoud, A. Girard and L. Fribourg, “Contract based Design of Symbolic Controllers for Interconnected Multiperiodic Sampled-Data Systems,” IEEE Conference on Decision and Control (CDC), 2018 (pp. 773-779).

Z. Kader, A. Girard and A. Saoud, “Symbolic Models for Incrementally Stable Switched Systems with Aperiodic Time Sampling,” IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine, vol. 51, no. 16, pp.253-258, 2018.

A. Saoud, P. Jagtap, M. Zamani and A. Girard, “Compositional Abstraction-based Synthesis for Cascade Discrete-time Control Systems,” IFAC Analysis and Design of Hybrid Systems (IFAC ADHS), IFAC-PapersOnLine, vol. 51, no. 16, 2018 (pp.13-18).

A. Saoud, A. Girard and L. Fribourg, “On the Composition of Discrete and Continuous-time Assume-Guarantee Contracts for Invariance,” European Control Conference (ECC) 2018 (pp. 435-440).  Top 3 Finalist of the Best Student Paper Award.

A. Saoud, A. Girard and L. Fribourg, “Contract-based Design of Symbolic Controllers for Vehicle Platooning,” Proceedings of the 21st International Conference on Hybrid Systems: Computation and Control (part of CPS Week), pp. 277-278, 2018. 

A. Saoud and A. Girard, “Multirate Symbolic Models for Incrementally Stable Switched Systems,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 9278–9284, IFAC World Congress, Toulouse, France, 2017.