Related papers: Formal verification of a controller implementation…
We consider the problem of designing finite-horizon safe controllers for a dynamical system for which no explicit analytical model exists and limited data only along a single trajectory of the system are available. Given samples of the…
The control function approach allows the researcher to identify various causal effects of interest. While powerful, it requires a strong invertibility assumption in the selection process, which limits its applicability. This paper expands…
A formal computation proving a new operator identity from known ones is, in principle, restricted by domains and codomains of linear operators involved, since not any two operators can be added or composed. Algebraically, identities can be…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
In this paper, we present a toolbox for interval analysis in numpy, with an application to formal verification of neural network controlled systems. Using the notion of natural inclusion functions, we systematically construct interval…
In some of the complicated control problems we have to use the controllers that apply nonlocal operators to the error signal to generate the control. Currently, the most famous controller with nonlocal operators is the fractional-order PID…
In deductive verification and software model checking, dealing with certain specification language constructs can be problematic when the back-end solver is not sufficiently powerful or lacks the required theories. One way to deal with this…
The article "Interpolation and SAT-Based Model Checking" (McMillan, 2003) describes a formal-verification algorithm, which was originally devised to verify safety properties of finite-state transition systems. It derives interpolants from…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
A MATLAB toolbox is presented, with the goal of checking occurrences of design errors typically found in fixed-point digital systems, considering finite word-length effects. In particular, the present toolbox works as a front-end to a…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
Modern control is implemented with digital microcontrollers, embedded within a dynamical plant that represents physical components. We present a new algorithm based on counter-example guided inductive synthesis that automates the design of…
In the paper the problem of verification of functional programs (FPs) over strings is considered, where specifications of properties of FPs are defined by other FPs, and a FP S1 meets a specification defined by another FP S2 iff a…
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…
Control systems often must satisfy strict safety requirements over an extended operating lifetime. Control Barrier Functions (CBFs) are a promising recent approach to constructing simple and safe control policies. This paper proposes a…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
The paper proposes a control-theoretic framework for verification of numerical software systems, and puts forward software verification as an important application of control and systems theory. The idea is to transfer Lyapunov functions…
Neural networks are often susceptible to minor perturbations in input that cause them to misclassify. A recent solution to this problem is the use of globally-robust neural networks, which employ a function to certify that the…
This article describes a fully automated, credible autocoding chain for control systems. The framework generates code, along with guarantees of high level functional properties which can be independently verified. It relies on domain…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…