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Author Della Penna, Giuseppe; Magazzeni, Daniele; Tofani, Alberto; Intrigila, Benedetto; Melatti, Igor; Tronci, Enrico
Title Automatic Synthesis of Robust Numerical Controllers Type Conference Article
Year 2007 Publication (up) Icas '07 Abbreviated Journal
Volume Issue Pages 4
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.
Corporate Author Thesis
Publisher IEEE Computer Society Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 0-7695-2859-5 ISBN Medium
Area Expedition Conference
Notes Approved yes
Call Number Sapienza @ mari @ Dmtimt07 Serial 89
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