This work presents a novel Model-Based Design (MBD) approach and associated tool-chain for the IEC 61131-3 specific Programmable Logical Controllers (PLC) [2]. Our tool-chain automatically synthesizes software for manufacturing Time-Triggered Real-time ...

This paper presents a method to dynamically transform a one-input, one-output fuzzy inference system into a hybrid system. Hybrid systems are used to model and evaluate the discrete and continuous behavior of a physical systems. The method can easily be ...

We present a search technique to falsify safety properties of hybrid systems that model a software system controlling a physical plant. Our approach takes as input (a) the controller code and (b) a plant model given as a black-box system that can be ...

In this project, we address the problem of synthesizing region-stabilizing controllers for switched systems. The plant model consists of a continuous-time switched system with finitely many switching modes. Our approach searches for a state-feedback ...

We present Compare-Execute-Check-Engine (C2E2), a tool that implements a simulation based verification algorithm for annotated hybrid systems. The input to C2E2 is an annotated Stateflow model (or an annotated hybrid system in an xml format) with ...

Legged robots naturally exhibit continuous and discrete dynamics when maneuvering over level-ground and uneven terrains. In recent years, numerous studies have focused on locomotion hybrid dynamics. However, locomotion on more challenging terrains such ...

We present on-going work on XSpeed, a tool for parallel state space exploration of continuous systems with linear dynamics and non-deterministic inputs. XSpeed exploits the computational power of multi-core architectures to speed up reachability ...

This abstract presents an unified framework for aggregated modeling of various responsive loads. The general model consists of coupled partial differential equations derived by drawing the connection with stochastic hybrid systems.

Hamilton-Jacobi-Isaacs (HJI) reachability analysis has been employed to guarantee constraint satisfaction (safety) in a number of applications including robotics, air traffic control, and control of HVAC systems. However, the current standard for these ...

This demo provides a preview of a pre-release version of CyPhySim, an open-source simulator for cyber-physical systems. This simulator supports discrete-event models, quantized-state simulation of continuous dynamics, the Functional Mockup Interface (...

This demonstration presents an unimpaired subject walking with a custom built self-contained powered transfemoral prosthesis: AMPRO, which is controlled by a novel nonlinear real-time optimization based controller. To achieve the behaviors that will be ...

We describe an application of symbolic control to ventilation regulation in buildings. The monotonicity property of a nonlinear control system subject to disturbances, modeling the process, is exploited to obtain symbolic abstractions, in the sense of ...

An integrated approach, embracing both control and scheduling theories, is proposed to implement multiple control loops upon shared network and computational resources, where the network may additionally introduce packet losses. Each control system is ...

This paper presents a method for optimal trajectory generation for discrete-time nonlinear systems with linear temporal logic (LTL) task specifications. Our approach is based on recent advances in stochastic optimization algorithms for optimal ...

We consider the problem of verification of safety specifications for stochastic hybrid systems with a controller that has access to partial observations of the state. We address this problem through a finite state approximation of the stochastic hybrid ...

This paper considers the problem of safety verification for discrete-time, possibly discontinuous dynamical systems. Typical solutions rely on finding invariant sets or Lyapunov functions and require solving optimization problems, which suffer from ...

This paper defines a suite of requirements for future hybrid cosimulation standards, and specifically provides guidance for development of a hybrid cosimulation version of the Functional Mockup Interface (FMI). A cosimulation standard defines interfaces ...

The model-based fault diagnosability analysis is concerned with the timely detection and isolation of faults by using the system model and observations of the system output. In this paper, we propose the (δ_d, δ_m, α)-diagnosability notion for hybrid ...

We consider a viability based approach to guarantee recursive feasibility of a finite horizon path planner. The path planner is formulated as a hybrid system for which a difference inclusion reformulation is derived by exploiting the special structure ...

A sampled data model falls somewhere between continuous and discrete time models: The plant evolves in continuous time, but the controller receives feedback and can modify its control input(s) only at periodic points in time. In previous work we have ...