Optimal and robust controller synthesis using energy timed automata with uncertainty

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 energyrates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of theenergy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit existence ofenergy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematicaand Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previousapproaches our method is completely automated and provides improved results.