Related papers: Realization-Stability Lemma for Controller Synthes…
A modern approach to engineering correct-by-construction systems is to synthesize them automatically from formal specifications. Oftentimes, a system can only satisfy its guarantees if certain environment assumptions hold, which motivates…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
Synthesizing controllers directly from frequency-domain measurement data is a powerful tool in the linear time-invariant framework. Ever-increasing performance requirements necessitate extending these approaches to account for plant…
Parameterized synthesis offers a solution to the problem of constructing correct and verified controllers for parameterized systems. Such systems occur naturally in practice (e.g., in the form of distributed protocols where the amount of…
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…
Partial observability and controllability are two well-known issues in test-case synthesis for interactive systems. We address the problem of partial control in the synthesis of test cases from timed-automata specifications. Building on the…
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.…
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…
Large language models (LLMs) have achieved widespread success on a variety of in-context few-shot tasks, but this success is typically evaluated via correctness rather than consistency. We argue that self-consistency is an important…
When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given. The task of designing…
We consider the synthesis problem on timed automata with B\"uchi objectives, where delay choices made by a controller are subjected to small perturbations. Usually, the controller needs to avoid punctual guards, such as testing the equality…
Developing critical components, such as mission controllers or embedded systems, is a challenging task. Reactive synthesis is a technique to automatically produce correct controllers. Given a high-level specification written in LTL,…
Supervisory control theory provides means to synthesize supervisors for systems with discrete-event behavior from models of the uncontrolled plant and of the control requirements. The applicability of supervisory control theory often fails…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
This paper develops a novel control synthesis method for safe stabilization of control-affine systems as a Differential Complementarity Problem (DCP). Our design uses a control Lyapunov function (CLF) and a control barrier function (CBF) to…
Data-driven controller design based on data informativity has gained popularity due to its straightforward applicability, while providing rigorous guarantees. However, applying this framework to the estimator synthesis problem introduces…
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…
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…
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…