Model Predictive Control with Signal Temporal Logic Specifications

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Vasumathi Raman, Alexandre Donze', Mehdi Maasoumy, Richard M. Murray, Alberto Sangiovanni-Vincentelli and Sanjit A. Seshia
2014 Conference on Decision and Control (CDC)

We present a mathematical programming-based method for model predictive control of discrete-time cyber- physical systems subject to signal temporal logic (STL) speci- fications. We describe the use of STL to specify a wide range of properties of these systems, including safety, response and bounded liveness. For synthesis, we encode STL specifications as mixed integer-linear constraints on the system variables in the optimization problem at each step of model predictive control. We present experimental results for controller synthesis on simplified models of a smart micro-grid and HVAC system.