Related papers: Controller Synthesis for Robust Invariance of Poly…
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
Among the various critical systems that worth to be formally analyzed, a wide set consists of controllers for dynamical systems. Those programs typically execute an infinite loop in which simple com putations update internal states and…
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
In this paper we consider the safety verification and safe controller synthesis problems for nonlinear control systems. The Control Barrier Certificates (CBC) approach is proposed as an extension to the Barrier certificates approach. Our…
We propose a new method for controlling linear dynamical systems under adversarial disturbances and cost functions. Our algorithm achieves a running time that scales polylogarithmically with the inverse of the stability margin, improving…
This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS)…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
This paper deals with the control synthesis problem for a continuous nonlinear dynamical system under a Linear Temporal Logic (LTL) formula. The proposed solution is a top-down hierarchical decomposition of the control problem involving…
Ensuring software correctness remains a fundamental challenge in formal program verification. One promising approach relies on finding polynomial invariants for loops. Polynomial invariants are properties of a program loop that hold before…
We investigate the problem of controller synthesis for hyperproperties specified in the temporal logic HyperLTL. Hyperproperties are system properties that relate multiple execution traces. Hyperproperties can elegantly express…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…
Provably correct software is one of the key challenges in our softwaredriven society. While formal verification establishes the correctness of a given program, the result of program synthesis is a program which is correct by construction.…
When designing correct-by-construction controllers for autonomous collectives, three key challenges are the task specification, the modelling, and its use at practical scale. In this paper, we focus on a simple yet useful abstraction for…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
In this paper, we present a novel approach to synthesize invariant clusters for polynomial programs. An invariant cluster is a set of program invariants that share a common structure, which could, for example, be used to save the needs for…