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T1 - Robust Controller Synthesis Using Kharitonov's Theorem

, Wassim M. Haddad

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JO - IEEE Transactions on Automatic Control

Kharitonov's theorem provides a necessary and sufficient analysis test for robust stability of polynomials whose coefficients lie within a hyperrectangle. In this note, we present a method based upon Kharitonov's theorem for synthesizing robustly stabilizing feedback controllers. Our approach is based upon a multiple plant model formulation with a quadratic cost functional. Sufficient conditions are obtained for characterizing robustly stabilizing static output feedback (proportional) controllers for MIMO plants with denominator polynomial uncertainty.

T2 - IEEE Transactions on Automatic Control

By using a permissive controller, a computer system can quickly adapt to a situation where an action becomes temporarily unavailable while still satisfying the property of interest.

JF - IEEE Transactions on Automatic Control

We propose an incremental model construction technique to improve performance of runtime synthesis.

AB - Kharitonov's theorem provides a necessary and sufficient analysis test for robust stability of polynomials whose coefficients lie within a hyperrectangle. In this note, we present a method based upon Kharitonov's theorem for synthesizing robustly stabilizing feedback controllers. Our approach is based upon a multiple plant model formulation with a quadratic cost functional. Sufficient conditions are obtained for characterizing robustly stabilizing static output feedback (proportional) controllers for MIMO plants with denominator polynomial uncertainty.

The goal is to synthesize, for a given property specification, a controller for the first player that wins against all possible actions of the environment player.

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To address robustness, we develop a technique called permissive controller synthesis.



We develop a full implementation of these techniques and evaluate it on a large set of case studies from the PRISM benchmark suite, demonstrating significant performance gains in most cases.

We guide the generation using heuristics and can guarantee that, even in the cases where we only explore a small part of the model, we still obtain a correct controller.

We tackle the scalability of controller synthesis with a learning-based approach.
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H-infinity methods in control theory - Wikipedia

Not all controllers can be generated offline, as the relevant information may only be available when the system is running, for example, the reliability of services may vary over time.

H-infinity methods in control ..

N2 - Kharitonov's theorem provides a necessary and sufficient analysis test for robust stability of polynomials whose coefficients lie within a hyperrectangle. In this note, we present a method based upon Kharitonov's theorem for synthesizing robustly stabilizing feedback controllers. Our approach is based upon a multiple plant model formulation with a quadratic cost functional. Sufficient conditions are obtained for characterizing robustly stabilizing static output feedback (proportional) controllers for MIMO plants with denominator polynomial uncertainty.

A MATLAB Toolbox for Piecewise-Affine Controller Synthesis

We develop a technique based on real-time dynamic programming which, by generating random trajectories through a model, synthesises an approximately optimal controller.

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