Computing Controllers for Nonlinear Hybrid Systems
- Cite this paper as:
- Tomlin C., Lygeros J., Sastry S. (1999) Computing Controllers for Nonlinear Hybrid Systems. In: Vaandrager F.W., van Schuppen J.H. (eds) Hybrid Systems: Computation and Control. HSCC 1999. Lecture Notes in Computer Science, vol 1569. Springer, Berlin, Heidelberg
We discuss a procedure for synthesizing controllers for safety specifications for hybrid systems. The procedure depends on the construction of the set of states of a continuous dynamical system that can be driven to a subset of the state space, avoiding another subset of the state space (the Reach-Avoid set). We present a new characterization of the Reach-Avoid set in terms of the solution of a pair of coupled Hamilton-Jacobi partial differential equations. We also discuss a computational algorithm for solving such partial differential equations and demonstrate its effectiveness on numerical examples.
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