A finite state machine framework for robust analysis and control of hybrid systems

Hybrid systems, describing interactions between analog and discrete dynamics, are pervasive in engineered systems and pose unique, challenging performance verification and control synthesis problems. Existing approaches either lead to computationally intensive and sometimes undecidable problems, or make use of highly specialized discrete abstractions with questionable robustness properties. The thesis addresses some of these challenges by developing a systematic, computationally tractable approach for design and certification of systems with discrete, finite-valued actuation and sensing. This approach is inspired by classical robust control, and is based on the use of finite state machines as nominal models of the hybrid systems. The development does not assume a particular algebraic or topological structure on the signal sets. The thesis adopts an input/output view of systems, proposes specific classes of inequality constraints to describe performance objectives, and presents corresponding 'small gain' type arguments for robust performance verification. A notion of approximation that is compatible with the goal of controller synthesis is defined. An approximation architecture that is capable of handling unstable systems is also proposed.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2006

Author dc:creator

• Tarraf, Danielle C. (Danielle Charles), 1974-

Advisor dc:contributor.advisor

• Munther A. Dahleh and Alexandre Megretski.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/35307

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/35307