Related papers: Separating Controller Design from Closed-Loop Desi…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
A classical approach to design controllers for interconnected systems is to assume that the different subsystems operate at different time scales, then design simpler controllers within each time scale, and finally certify stability of the…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…
We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…
Controller synthesis is in essence a case of model-based planning for non-deterministic environments in which plans (actually ''strategies'') are meant to preserve system goals indefinitely. In the case of supervisory control environments…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I)…
In this paper, we will propose linear-matrix-inequality-based techniques for the design of sampled-data controllers that render the closed-loop system dissipative with respect to \textcolor{blue}{quadratic supply functions}, which includes…
Scalability issues may prevent users from verifying critical properties of a complex hardware design. In this situation, we propose to synthesize a "safety shield" that is attached to the design to enforce the properties at run time. Shield…
We present a solution to deal with information package dropouts in distributed controllers for large-scale networks. We do this by leveraging the System Level Synthesis approach, a control framework particularly suitable for large-scale…
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…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…
We present the Distributed and Localized Model Predictive Control (DLMPC) algorithm for large-scale structured linear systems, wherein only local state and model information needs to be exchanged between subsystems for the computation and…
In this paper, we focus on mitigating the computational complexity in abstraction-based controller synthesis for interconnected control systems. To do so, we provide a compositional framework for the construction of abstractions for…
Stability is arguably one of the core concepts upon which our understanding of dynamical and control systems has been built. The related notion of incremental stability, however, has received much less attention until recently, when it was…
Automatic synthesis from temporal logic specifications is an attractive alternative to manual system design, due to its ability to generate correct-by-construction implementations from high-level specifications. Due to the high complexity…
We present a controller synthesis algorithm for a discrete time reach-avoid problem in the presence of adversaries. Our model of the adversary captures typical malicious attacks envisioned on cyber-physical systems such as sensor spoofing,…
Quantum Layout Synthesis (QLS) is a critical compilation stage that adapts quantum circuits to hardware constraints with an objective of minimizing the SWAP overhead. While heuristic tools demonstrate good efficiency, they often produce…
We address the problem of diagnosing and repairing specifications for hybrid systems formalized in signal temporal logic (STL). Our focus is on the setting of automatic synthesis of controllers in a model predictive control (MPC) framework.…
In this paper, the moment matching techniques are adopted to obtain reduced-order closed-loop systems with reduced-order controllers that maintain the closed-loop stability and guarantee desired asymptotic performance, after revealing the…