Murray at 17:02, 29 February 2020

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Murray: Murray moved page EECI 2020: Discrete abstractions to EECI 2020: Discrete Abstractions

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Nok at 23:36, 27 February 2020

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	This lecture focuses on the abstraction of hybrid systems. We first discuss finite-state under- and over-approximations of hybrid dynamics and how these finite-state models coupled with the model checking tools can be used to verify temporal logic properties against hybrid dynamics. Then, we present a procedure for constructing finite-state, under-approximations which will later be used in the course in the synthesis of hierarchical control protocols.		This lecture focuses on the abstraction of hybrid systems. We first discuss finite-state under- and over-approximations of hybrid dynamics and how these finite-state models coupled with the model checking tools can be used to verify temporal logic properties against hybrid dynamics. Then, we present a procedure for constructing finite-state, under-approximations which will later be used in the course in the synthesis of hierarchical control protocols.

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Created page with "This lecture focuses on the abstraction of hybrid systems. We first discuss finite-state under- and over-approximations of hybrid dynamics and how these finite-state models co..."

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This lecture focuses on the abstraction of hybrid systems. We first discuss finite-state under- and over-approximations of hybrid dynamics and how these finite-state models coupled with the model checking tools can be used to verify temporal logic properties against hybrid dynamics. Then, we present a procedure for constructing finite-state, under-approximations which will later be used in the course in the synthesis of hierarchical control protocols.

== Lecture Materials ==
* [https://www.dropbox.com/s/yqjbcink8qzmhsp/L6_Abstractions-2020.pdf?dl=0 Lecture slides]

== Further Reading ==
* [http://robotics.eecs.berkeley.edu/~sastry/ee291e/lygeros.pdf Lecture Notes on Hybrid Systems] (by John Lygeros): A rough introduction to hybrid systems. Chapters 5 and 6 are on various analysis techniques relevant for this short course. 
* [http://www.cds.caltech.edu/~utopcu/images//4/4d/WTM-itac10R.pdf Receding horizon temporal logic planning],T. Wongpiromsarn, U. Topcu, and R. Murray, submitted to IEEE Transactions on Automatic Control, 2010. Details on the receding horizon temporal logic planning. 
* [http://www.cds.caltech.edu/~murray/wiki/index.php/EECI08:_Optimization-Based_Control Optimization based control]. A page prepared for EECI 2008 with information and material on basic receding horizon control.
* [http://control.ee.ethz.ch/~mpt/ Multiparametric Toolbox] The Multi-Parametric Toolbox (MPT) is a free Matlab toolbox for design, analysis and deployment of optimal controllers for constrained linear, nonlinear and hybrid systems. [http://www.cds.caltech.edu/tulip The receding horizon temporal logic planning toolbox] uses the polytope manipulation (intersection, union, set difference, projection, etc.) functionalities of MPT. 
* [http://www.cds.caltech.edu/~utopcu/images//9/98/WTM-aaai10.pdf Automatic synthesis of robust embedded control software], T. Wongpiromsarn, U. Topcu, and R. Murray, AAAI 2010 Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems, 2010. Details on the abstraction procedure covered in this lecture. 
* [http://www.mpc.berkeley.edu/mpc-course-material/BBMbook_Cambridge.pdf?attredirects=0&d=1 Predictive Control]: A book draft by Bemporap, Borrelli, and Morari. Details on some of the ideas in the implementation of the abstraction procedure presented in the slides can be found in this book. 
* [http://www.mpc.berkeley.edu/mpc-course-material/BBMbook_Cambridge.pdf?attredirects=0&d=1 Predictive Control]: A book draft by Bemporap, Borrelli, and Morari. Details on some of the ideas in the implementation of the abstraction procedure presented in the slides can be found in this book. 
* [http://www.cds.caltech.edu/~utopcu/eeci13/ltom-12-cdc.pdf Reactive controllers for differentially flat systems with temporal logic constraints], J. Liu, N. Ozay, U. Topcu, and R. Murray, Control and Decision Conference, 2012.

EECI 2020: Discrete Abstractions - Revision history

Murray at 17:02, 29 February 2020

Murray: Murray moved page EECI 2020: Discrete abstractions to EECI 2020: Discrete Abstractions

Nok at 23:36, 27 February 2020

Nok: Created page with "This lecture focuses on the abstraction of hybrid systems. We first discuss finite-state under- and over-approximations of hybrid dynamics and how these finite-state models co..."