Synthesis of safety controllers robust to unmodeled intermittent disturbances
Eric Dallal, Daniel Neider, Paulo Tabuada · 2016
The synthesis of controllers enforcing safety properties is a well understood problem for which we have practical algorithms as well as a deep theoretical understanding. This problem is typically formulated as game between the controller seeking to enforce the safety property and the environment seeking to violate it. The solution of these games is given by a winning set: inside the winning set the controller can enforce the desired property as long as it chooses one of the many inputs that forces the system to remain inside the winning set; outside the winning set the environment can violate the winning property independently of the controller's actions. In this paper we answer the following two questions: (1) Among the several inputs available to the controller inside the winning set, are there inputs that are “better” than others? (2) What should the controller do when the state is outside the winning set? In answering these questions we are guided by a desire to be robust to unmodeled intermittent disturbances.