Optimal and Robust Controller Synthesis

Using Energy Timed Automata with Uncertainty
  • Giovanni BacciEmail author
  • Patricia Bouyer
  • Uli Fahrenberg
  • Kim Guldstrand Larsen
  • Nicolas Markey
  • Pierre-Alain Reynier
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10951)


In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of the energy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit existence of energy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematica and Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previous approaches our method is completely automated and provides improved results.


Quantifier Elimination (QE) Linear Real Arithmetic Infinite Run Energy Variation Rate Timed Discrete Event Systems 
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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Giovanni Bacci
    • 1
    Email author
  • Patricia Bouyer
    • 2
  • Uli Fahrenberg
    • 3
  • Kim Guldstrand Larsen
    • 1
  • Nicolas Markey
    • 4
  • Pierre-Alain Reynier
    • 5
  1. 1.Department of Computer ScienceAalborg UniversityAalborgDenmark
  2. 2.LSV, CNRS & ENS CachanUniversité Paris-SaclayCachanFrance
  3. 3.École PolytechniquePalaiseauFrance
  4. 4.Univ. Rennes, IRISA, CNRS & INRIARennesFrance
  5. 5.Aix Marseille Univ., Université de Toulon, CNRS, LISMarseilleFrance

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