We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these systems, including safety, response and bounded liveness. For synthesis, we encode STL specifications as mixed integer-linear constraints on the system variables in the optimization problem at each step of a receding horizon control framework. We prove correctness of our algorithms, and present experimental results for controller synthesis for building energy and climate control.
@article{arxiv.1703.09563,
title = {Model Predictive Control for Signal Temporal Logic Specification},
author = {Vasumathi Raman and Alexandre Donzé and Mehdi Maasoumy and Richard M. Murray and Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia},
journal= {arXiv preprint arXiv:1703.09563},
year = {2017}
}