Related papers: A Counter-Example Guided Framework for Robust Synt…
We investigate the problem of synthesizing switching controllers for stabilizing continuous-time plants. First, we introduce a class of control Lyapunov functions (CLFs) for switched systems along with a switching strategy that yields a…
An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a…
We introduce a counter-example guided inductive synthesis (CEGIS) framework for synthesizing continuous-time switching controllers that guarantee reach while stay (RWS) properties of the closed loop system. The solution is based on…
We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers for linear systems affected by parametric uncertainty with arbitrary shape. In the…
Probabilistic programs are key to deal with uncertainty in e.g. controller synthesis. They are typically small but intricate. Their development is complex and error prone requiring quantitative reasoning over a myriad of alternative…
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…
Recent advances in learning-based perception systems have led to drastic improvements in the performance of robotic systems like autonomous vehicles and surgical robots. These perception systems, however, are hard to analyze and errors in…
Verified controller synthesis uses world models that comprise all potential behaviours of humans, robots, further equipment, and the controller to be synthesised. A world model enables quantitative risk assessment, for example, by…
This paper introduces the notion of control closure certificates to synthesize controllers for discrete-time control systems against $\omega$-regular specifications. Typical functional approaches to synthesize controllers against…
In this article, we consider the problem of synthesizing switching controllers for temporal properties through the composition of simple primitive reach-while-stay (RWS) properties. Reach-while-stay properties specify that the system states…
Counterexample-guided inductive synthesis CEGIS is used to synthesize programs from a candidate space of programs. The technique is guaranteed to terminate and synthesize the correct program if the space of candidate programs is finite. But…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
This paper proposes a framework for automatic formal controller synthesis for general hybrid systems with a subset of safety and reachability specifications. The framework uses genetic programming to automatically co-synthesize controllers…
We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
We present a sound and automated approach to synthesize safe digital feedback controllers for physical plants represented as linear, time invariant models. Models are given as dynamical equations with inputs, evolving over a continuous…
Software implementations of controllers for physical systems are at the core of many embedded systems. The design of controllers uses the theory of dynamical systems to construct a mathematical control law that ensures that the controlled…
Designing controllers with provable formal guarantees has become an urgent requirement for cyber-physical systems in safety-critical scenarios. Beyond addressing scalability in high-dimensional implementations, controller synthesis…
Deadline misses are more common in real-world systems than one may expect. The weakly-hard task model has become a standard abstraction to describe and analyze how often these misses occur, and has been especially used in control…
Controller synthesis, including reset controller, feedback controller, and switching logic controller, provides an essential mechanism to guarantee the correctness and reliability of hybrid systems in a correct-by-construction manner.…