Active learning of plans for safety and reachability goals with partial observability
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Robotics and Computer-Integrated Manufacturing
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In practice, a controlled system consists of two distinct entities: the plant and the controller. These two entities are coupled by a feedback mechanism to give the closed-loop behavior of the controlled system. Under this structure, the controlled behavior of the system can be analyzed by simulation which is costly and time consuming. In this study, we synthesize a combined plant and controller model. We consider the practical issues and propose a method which combines the advantages of Petri nets (PN) and the supervisory controller design based on Formal Language Theory. The resultant combined model is a PN and represents the controlled closed-loop behavior of the system. This model can be used for the functional and the performance analysis of the system, verification of the controller and the control code generation