Modern control theory (3rd ed.)
Modern control theory (3rd ed.)
The algorithmic analysis of hybrid systems
Theoretical Computer Science - Special issue on hybrid systems
What's decidable about hybrid automata?
Journal of Computer and System Sciences
Automatic Symbolic Verification of Embedded Systems
IEEE Transactions on Software Engineering
Computing Controllers for Nonlinear Hybrid Systems
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Automatic Synthesis of Controllers from Formal Specifications
ICFEM '98 Proceedings of the Second IEEE International Conference on Formal Engineering Methods
Synthesis of fault-tolerant concurrent programs
ACM Transactions on Programming Languages and Systems (TOPLAS)
Predicate abstraction for reachability analysis of hybrid systems
ACM Transactions on Embedded Computing Systems (TECS)
PHAVer: algorithmic verification of hybrid systems past HyTech
International Journal on Software Tools for Technology Transfer (STTT)
Approximately bisimilar symbolic models for nonlinear control systems
Automatica (Journal of IFAC)
Synthesis of optimal switching logic for hybrid systems
EMSOFT '11 Proceedings of the ninth ACM international conference on Embedded software
Synthesis of quantized feedback control software for discrete time linear hybrid systems
CAV'10 Proceedings of the 22nd international conference on Computer Aided Verification
PESSOA: a tool for embedded controller synthesis
CAV'10 Proceedings of the 22nd international conference on Computer Aided Verification
The embedded systems design challenge
FM'06 Proceedings of the 14th international conference on Formal Methods
Undecidability of quantized state feedback control for discrete time linear hybrid systems
ICTAC'12 Proceedings of the 9th international conference on Theoretical Aspects of Computing
Model-based synthesis of control software from system-level formal specifications
ACM Transactions on Software Engineering and Methodology (TOSEM)
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Many Embedded Systems are indeed Software Based Control Systems (SBCSs), 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 control software. Given the formal model of a plant as a Discrete Time Linear Hybrid System and the implementation specifications (that is, number of bits in the Analog-to-Digital (AD) conversion) correct-by-construction control software can be automatically generated from System Level Formal Specifications of the closed loop system (that is, safety and liveness requirements), by computing a suitable finite abstraction of the plant. With respect to given implementation specifications, the automatically generated code implements a time optimal control strategy (in terms of set-up time), has a Worst Case Execution Time linear in the number of AD bits b, but unfortunately, its size/grows exponentially with respect to b. In many embedded systems, there are severe restrictions on the computational resources (such as memory or computational power) available to microcontroller devices. This paper addresses model based synthesis of control software by trading system level non-functional requirements (such us optimal set-up time, ripple) with software non-functional requirements (its footprint). Our experimental results show the effectiveness of our approach: for the inverted pendulum benchmark, by using a quantization schema with 12 bits, the size of the small controller is less than 6% of the size of the time optimal one.