Logic-based Control

Tutorial workshop for the

10th Mediterranean Conference on Control and Automation

July 9-12, 2002, in Lisbon, Portugal

The overall objective of this tutorial session is to overview a variety of theoretical tools for synthesizing and analyzing logic-based switching control systems. By a logic-based control system we mean a system that combines continuous dynamics (typically modeled by differential or difference equations) with logic-driven elements. These systems are often also called hybrid.

An important category of such systems are those consisting of a continuous-time process to be controlled, a family of fixed-gain or variable-gain candidate controllers, and an “event-driven switching logic” called a supervisor whose job is to determine in real time which controller should be applied to the process. Examples of supervisory control systems include re-configurable systems, fault correction systems, and certain types of parameter-adaptive systems. Major reasons for introducing logic and switching are to deal with communication, actuator and sensor constraints, with model uncertainty, with unforeseen events or to avoid performing difficult tasks e.g., precise equipment calibration which might otherwise be necessary were one to consider only conventional controls.

The aim of this workshop is to provide an overview of algorithms with these capabilities, as well as to discuss various techniques for analyzing the types of switched systems that result.

Organizers

João Hespanha University of California at Santa Barbara Room 3121, Engineering I Electrical & Computer Eng. University of California Santa Barbara, CA 93106 USA Tel: +1 (805) 893-7042 Fax: +1 (805) 893-3262 hespanha at ece.ucsb.edu

Daniel Liberzon University of Illinois at Urbana-Champaign Coordinated Science Laboratory Univ. of Illinois 1308 W. Main Street Urbana, IL 61801 USA Tel: +1 (217) 244-6750 Fax: +1 (217) 244-1653 liberzon at uiuc.edu

Program

Session I: Switched Control Systems (Liberzon)

1. Why switched control systems?

2. Applications of switched control

3. Stability of switched systems I

4. Stability of switched systems II

These lectures (PowerPoint slides) are based on the manuscript:

Daniel Liberzon, Control using Logic and Switching, Dec 2001.

Session II: Switched Supervisory Control (Hespanha)

5. Supervisory control architecture

6. Estimator-based linear supervisory control

7. Estimator-based nonlinear supervisory control

8. Supervisory control applications

These lectures (PowerPoint slides) are based on the manuscript:

João Hespanha, Tutorial on Supervisory Control, Nov. 2001.