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Convex Analysisの二,三の進展について

We introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous. Their physical properties are subsumed by a linearizing output and they might be regarded as providing another nonlinear extension of Kalman's controllability. The distance to flatness is measured by a non-negative integer, the defect. We utilize differential algebra where flatness- and defect are best defined without distinguishing between input, state, output and other variables. Many realistic classes of examples are flat. We treat two popular ones: the crane and the car with n trailers, the motion planning of which is obtained via elementary properties of plane curves. The three non-flat examples, the simple, double and variable length pendulums, are borrowed from non-linear physics. A high frequency control strategy is proposed such that the averaged systems become flat.

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Flatness and defect of non-linear systems: introductory theory and examples

ing WS1S Systems to Verify Parameterized Networks . . . . . . . . . . . . 188 Kai Baukus, Saddek Bensalem, Yassine Lakhnech and Karsten Stahl FMona: A Tool for Expressing Validation Techniques over Infinite State Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 J.-P. Bodeveix and M. Filali Transitive Closures of Regular Relations for Verifying Infinite-State Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220 Bengt Jonsson and Marcus Nilsson Diagnostic and Test Generation Using Static Analysis to Improve Automatic Test Generation . . . . . . . . . . . . . 235 Marius Bozga, Jean-Claude Fernandez and Lucian Ghirvu Efficient Diagnostic Generation for Boolean Equation Systems . . . . . . . . . . . . 251 Radu Mateescu Efficient Model-Checking Compositional State Space Generation with Partial Order Reductions for Asynchronous Communicating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266 Jean-Pierre Krimm and Laurent Mounier Checking for CFFD-Preorder with Tester Processes . . . . . . . . . . . . . . . . . . . . . . . 283 Juhana Helovuo and Antti Valmari Fair Bisimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 Thomas A. Henzinger and Sriram K. Rajamani Integrating Low Level Symmetries into Reachability Analysis . . . . . . . . . . . . . 315 Karsten Schmidt Model-Checking Tools Model Checking Support for the ASM High-Level Language . . . . . . . . . . . . . . 331 Giuseppe Del Castillo and Kirsten Winter Table of

Tools and Algorithms for the Construction and Analysis of Systems. Proc. TACAS 2009

The problem of controlling a fixed nonlinear plant in order to have its output track (or reject) a family of reference (or disturbance) signal produced by some external generator is discussed. It is shown that, under standard assumptions, this problem is solvable if and only if a certain nonlinear partial differential equation is solvable. Once a solution of this equation is available, a feedback law which solves the problem can easily be constructed. The theory developed incorporates previously published results established for linear systems. >

Output regulation of nonlinear systems

Model Predictive Control (MPC), the dominant advanced control approach in industry over the past twenty-five years, is presented comprehensively in this unique book. With a simple, unified approach, and with attention to real-time implementation, it covers predictive control theory including the stability, feasibility, and robustness of MPC controllers. The theory of explicit MPC, where the nonlinear optimal feedback controller can be calculated efficiently, is presented in the context of linear systems with linear constraints, switched linear systems, and, more generally, linear hybrid systems. Drawing upon years of practical experience and using numerous examples and illustrative applications, the authors discuss the techniques required to design predictive control laws, including algorithms for polyhedral manipulations, mathematical and multiparametric programming and how to validate the theoretical properties and to implement predictive control policies. The most important algorithms feature in an accompanying free online MATLAB toolbox, which allows easy access to sample solutions. Predictive Control for Linear and Hybrid Systems is an ideal reference for graduate, postgraduate and advanced control practitioners interested in theory and/or implementation aspects of predictive control.

Predictive Control for Linear and Hybrid Systems

Diabetes is a widespread disease characterized by chronic hyperglycemia so that diabetic individuals usually require the administration of exogenous insulin for survival. As a consequence, in the context of the so-called artificial pancreas, many glucose control methods have been presented in the last few years. In this work, we focus on type-2 diabetes and propose a novel model-based glucose control technique based on the use of symbolic models, which are finite approximations of complex dynamical systems. This framework allows taking into account nonlinearities and delays in the dynamics, uncertainties, and input bounds, as well as nonidealities coming from the interaction between physical plant and digital environment. The methodology is extensively validated over a virtual patient model, broadly accepted as a substitute to animal trials in the preclinical testing of closed-loop glucose control strategies. The results show the effectiveness and the robustness of the approach.

Symbolic Control Design of an Artificial Pancreas for Type-2 Diabetes

In this paper we address the problem of designing a fault tolerant control scheme for an HVAC control system where sensing and actuation data are exchanged with a centralized controller via a wireless sensors and actuators network where the communication nodes are subject to permanent failures and malicious intrusions.

Fault-tolerant control of a wireless HVAC control system

This paper deals with diagnosability of discrete-time nonlinear systems with unknown inputs and quantized outputs. We propose a novel notion of diagnosability that we term approximate diagnosability, corresponding to the possibility of detecting within a finite delay and within a given accuracy if a set of faulty states is reached or not. Addressing diagnosability in an approximate sense is primarily motivated by the fact that system outputs in concrete applications are measured by sensors that introduce measurement errors. Consequently, it is not possible to detect exactly if the state of the system has reached or not the set of faulty states. In order to check approximate diagnosability on the class of nonlinear systems we use tools from formal methods. We first derive a symbolic model approximating the original system within any desired accuracy. This step allows us to check approximate diagnosability of the symbolic model. We then establish the relation between approximate diagnosability of the symbolic model and of the original nonlinear system.

On Approximate Diagnosability of Nonlinear Systems

The use of macroscopic information for the control of a vehicular platoon composed of autonomous vehicles is investigated. A mesoscopic control law is provided, and String Stability is proved by Lyapunov functions and Input-to-State Stability (ISS) concepts. Simulations are implemented in order to validate the controller and to show the efficacy of the proposed approach for mitigating traffic oscillations.

On the utilization of Macroscopic Information for String Stability of a Vehicular Platoon

This short paper qualitatively introduces the definition of the concepts of Deadlock and Livelock for a general class of Hybrid Control Systems (HCS). Such a characterization hinges on three important aspects: firstly, the concept of composition of HCS; secondly, the general concept of specifications and their composition for HCS; finally, the dynamical structure and behaviors of HCS. The first aspect is introduced in a novel manner, including ideas from the literature of discrete transition systems and accounting for concepts such as that of dynamical feedback interconnection. The second point includes general properties that are of interest from a systems and control theory perspective. The third part categorizes the diverse and possibly pathological behaviors that are distinctive of HCS. A first look at the problem of Deadlock and Livelock Verification concludes the manuscript.

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Maria Domenica Di Benedetto

Papers

Symbolic Control Design of an Artificial Pancreas for Type-2 Diabetes

Fault-tolerant control of a wireless HVAC control system

On Approximate Diagnosability of Nonlinear Systems

On the utilization of Macroscopic Information for String Stability of a Vehicular Platoon

The concept of deadlock and livelock in hybrid control systems