Abstract
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.
Work supported by ERC projects Lasso and EQualIS.
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Notes
- 1.
For the infinite-run problem, it can be shown that memoryless strategies suffice.
- 2.
More details on our scripts are available at http://people.cs.aau.dk/~giovbacci/tools.html, together with the models we used for our examples and case study.
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Bacci, G., Bouyer, P., Fahrenberg, U., Larsen, K.G., Markey, N., Reynier, PA. (2018). Optimal and Robust Controller Synthesis. In: Havelund, K., Peleska, J., Roscoe, B., de Vink, E. (eds) Formal Methods. FM 2018. Lecture Notes in Computer Science(), vol 10951. Springer, Cham. https://doi.org/10.1007/978-3-319-95582-7_12
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