Controller Verification for Nonlinear Systems: A Computational Approach using Phase-Space Geometric Models

Hybrid Systems and AI: Modeling Analysis and Control of Discrete Plus Continuous Systems

Volume

Papers from the 1999 AAAI Spring Symposium

Contents

This paper presents an algorithm for verifying control laws using phase-space geometric modeling of dynamical systems. The algorithm evolves a hierarchicallyrefined bound of system nonlinear dynamics and can address practical concerns such as sensor, actuator, and modeling uncertainties in a systematic manner. The algorithm has been applied to verifying a control law for a magnetic levitation system, and the computational results are compared against the performance of the actual physical system.