Documentation on Encrypted Dynamic Control Simulation Code using Ring-LWE based Cryptosystems

Encrypted controllers offer secure computation by employing modern cryptosystems to execute control operations directly over encrypted data without decryption. However, incorporating cryptosystems into dynamic controllers significantly increases the computational load. This paper aims to provide an accessible guideline for running encrypted controllers using an open-source library Lattigo, which supports an efficient implementation of Ring-Learing With Errors (LWE) based encrypted controllers, and our explanations are assisted with example codes that are fully available at https://github.com/CDSL-EncryptedControl/CDSL.