Model based design of control software for nonlinear discrete time hybrid systems

Аннотация

Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches for automatic synthesis of embedded systems control software. This paper addresses control software synthesis for discrete time nonlinear hybrid systems. We present a methodology to over approximate the dynamics of a discrete time nonlinear hybrid system by means of a discrete time linear hybrid system , in such a way that controllers for are guaranteed to be controllers for . We present experimental results on control software synthesis for the inverted pendulum, a challenging and meaningful control problem.