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Optimal controller synthesis is a bilinear problem and hence difficult to solve in a computationally efficient manner. We are able to resolve this bilinearity for systems with delay by first convexifying the problem in infinite-dimensions -…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
Verifying specifications for large-scale modern engineering systems can be a time-consuming task, as most formal verification methods are limited to systems of modest size. Recently, contract-based design and verification has been proposed…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
As autonomy becomes prevalent in many applications, ranging from recommendation systems to fully autonomous vehicles, there is an increased need to provide safety guarantees for such systems. The problem is difficult, as these are large,…
In this paper, we present a probabilistic adaptation of an Assume/Guarantee contract formalism. For the sake of generality, we assume that the extended state machines used in the contracts and implementations define sets of runs on a given…
This paper presents a compositional approach to specification-guided abstraction refinement for control synthesis of a nonlinear system associated with a method to over-approximate its reachable sets. Given an initial coarse partition of…
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.…
This letter presents a framework for synthesizing a robust full-state feedback controller for systems with unknown nonlinearities. Our approach characterizes input-output behavior of the nonlinearities in terms of local norm bounds using…
This paper presents an assume-guarantee reasoning approach to the computation of robust invariant sets for network systems. Parameterized signal temporal logic (pSTL) is used to formally describe the behaviors of the subsystems, which we…
Adaptation of software components is an important issue in Component Based Software Engineering (CBSE). Building a system from reusable or Commercial-Off-The-Shelf (COTS) components introduces a set of problems, mainly related to…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
In this paper, we present an analytical approach for the synthesis of ellipsoidal probabilistic reachable sets of saturated systems subject to unbounded additive noise. Using convex optimization methods, we compute a contraction factor of…
In previous work, we have introduced a contract-based real- izability checking algorithm for assume-guarantee contracts involving infinite theories, such as linear integer/real arith- metic and uninterpreted functions over infinite domains.…
We consider the synthesis of distributed implementations for specifications in parameterized temporal logics such as PROMPT-LTL, which extends LTL by temporal operators equipped with parameters that bound their scope. For single process…
Recent studies have demonstrated the potential of flexible loads in providing frequency response services. However, uncertainty and variability in various weather-related and end-use behavioral factors often affect the demand-side control…
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 consider a compositional construction of approximate abstractions of interconnected control systems. In our framework, an abstraction acts as a substitute in the controller design process and is itself a continuous control system. The…
Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing…