The growing use of complex Cyber-Physical Systems (CPSs) in safety-critical applications has led to the demand for the automatic synthesis of robust feedback controllers that satisfy a given set of formal specifications. Controller synthesis from the high-level specification is an NP-Hard problem. We propose a heuristic-based automated technique that synthesizes feedback controllers guided by Signal Temporal Logic (STL) specifications. Our technique involves rigorous analysis of the traces generated by the closed-loop system, matrix decomposition, and an incremental multi-parameter tuning procedure. In case a controller cannot be found to satisfy all the specifications, we propose a technique for modifying the unsatisfiable specifications so that the controller synthesized for the satisfiable subset of specifications now also satisfies the modified specifications. We demonstrate our technique on eleven controllers used as standard closed-loop control system benchmarks, including complex controllers having multiple independent or nested control loops. Our experimental results establish that the proposed algorithm can automatically solve complex feedback controller synthesis problems within a few minutes.
ACM Transactions on Embedded Computing Systems (TECS) – Association for Computing Machinery
Published: Sep 22, 2021
Keywords: Feedback control