NDLI: Automatic Synthesis of Robust Numerical Controllers

Content Provider	IEEE Xplore Digital Library
Author	Intrigila, B. Melatti, I. Tronci, E.
Copyright Year	2007
Description	Author affiliation: Univ. of Roma, Rome (Intrigila, B.)
Abstract	A major problem of numerical controllers is their robustness, i.e. the state read from the plant may not be in the controller table, although it may be close to some states in the table. For continuous systems, this problem is typically handled by interpolation techniques. Unfortunately, when the plant contains both continuous and discrete variables, the interpolation approach does not work well. To cope with this kind of systems, we propose a general methodology that exploits explicit model checking in an innovative way to automatically synthesize a (time-) optimal numerical controller from a plant specification and apply an optimized strengthening algorithm only on the most significant states, in order to reach an acceptable robustness degree. We implemented all the algorithms within our CGMurphi tool, an extension of the well-known CMurphi verifier, and tested the effectiveness of our approach by applying it to the well-known truck and trailer obstacles avoidance problem.
Starting Page	4
Ending Page	4
File Size	194637
Page Count	1
File Format	PDF
ISBN	0769528597
DOI	10.1109/CONIELECOMP.2007.59
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-19
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Computer science Interpolation Optimal control Automatic control Control system synthesis Control systems Continuous time systems Dynamic programming Performance analysis
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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