# On the Undesired Equilibria Induced by Control Barrier Function Based Quadratic Programs

arXiv: https://arxiv.org/abs/2104.14895 · HTML: https://mlsanity.com/paper/2104.14895/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Apr 2021.

## Built on by (most cited first, 3 of 3)

- [Stable and Safe Reinforcement Learning via a Barrier-Lyapunov Actor-Critic Approach](https://mlsanity.com/paper/2304.04066/) (2023)
- [Neural Network-assisted Interval Reachability for Systems with Control Barrier Function-Based Safe Controllers](https://mlsanity.com/paper/2504.08249/) (2025)
- [Reinforcement learning in pursuit-evasion differential game: safety, stability and robustness](https://mlsanity.com/paper/2507.19516/) (2025)

## Abstract (arXiv)

In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and locations of possible equilibrium points of the closed-loop system and also provide analytical results on how design parameters affect them. Based on this analysis, a simple modification on the existing quadratic program-based controller is provided, which, without any assumptions other than those taken in the original program, inherits the safety set forward invariance property, and further guarantees the complete elimination of undesired equilibrium points in the interior of the safety set as well as one type of boundary equilibrium points, and local asymptotic stability of the origin. Numerical examples are given alongside the theoretical discussions.