State-Only ICBF Feasibility Condition

Background: Controller verification and certification in safety-critical systems benefit from having explicit, closed-form conditions that guarantee the feasibility of the derived control synthesis problem.

Question / Future Work: Developing an explicit, closed-form feasibility condition for the standard Integral Control Barrier Function (ICBF) QP when only state constraints are present, analogous to the condition derived for the joint state and input constraint case in Proposition 1.