IntroductionThe PAHS Control Toolbox is a Matlab toolbox designed to aid in the design of controllers for piece-wise affine hybrid systems. The main purpose is to synthesise controllers for systems with uncontrollable external inputs, e.g. fault tolerant controllers, by computing discrete game abstractions of hybrid systems. The toolbox implements the ideas presented in [Grunnet08a-ND], which is based on the [Habets06a] regarding control to facet of PAHSs. The main capabilities are centered around checking which facets of a polytope an affine system can be prevented from leaving through, blocking, to which degree the system can be forced out a given facet, controllability, and by building on this basic capability compute discrete abstractions which describe the system dynamics as a discrete game. This is the basis for creating discrete game abstractions of PAHS, which tools such as UppAal can synthesise solutions for. The PAHS Control Toolbox is capable converting the discrete game abstraction and Reach/Avoid/Stay requirements to UppAal syntax and if feasible find a winning strategy for the game. The winning strategy is then refined to piecewise affine control laws on the PAHS and a simulator based on the trap_101 ODE solver is included. In summary: Given a piecewise-affine hybrid system with external events and a reach/avoid/stay specification the toolbox can automatically find a control strategy. FunctionalityThe PAHS toolbox V1.1 supports the following features
RestrictionsThere are a number of restrictions on the PAHS
Known bugs and regressionsThis is a list of known bugs that should be corrected in future releases
Planned featuresThe following features are planned for future realeases (if any)
LicensingThe PAHS toolbox as licensed under the GPL V3. The toolbox includes sligthtly modified versions of files from the RANDOM_DATA library authored by John Burkhardt and licensed under the LGPL. These can be found in the burkhardt subdirectory. |