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GT-VERIF 2017
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Invariant
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System description: General model
Aq Sq U Sq0 (Invariance)
x Sq , Tx d (Safety)
I S (Containment of initial set)
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Features of a good set representation and
computation
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1) Eigenstructure based contraction
The representation should capture contraction along stable
eigenvectors of linear sub-systems.
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1) Eigenstructure based contraction
The representation should capture contraction along stable
eigenvectors of linear sub-systems.
Example: Quadratic Lyapunov or Ellipsoids: Consider sub-level
set of n
X
eiT x e Ti x ,
f (x) =
i=1
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1) Eigenstructure based contraction
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2) Closure under system operations
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2) Closure under system operations
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3) Avoid wrapping effect
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3) Avoid wrapping effect
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4) Reasonable complexity of computation
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4) Reasonable complexity of computation
Size increases in
each step propor-
tional to dimen-
sion.
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Analysis of previous approaches
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Template complex zonotopes
Definition
Let V Mnm (C) (template) and s Rm 0 (scaling factors)
n
and c R (center). Then the following is a template
complex zonotope:
C (V , c, s) = {V : Cm , |i | si i {1, ..., m}} .
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Geometric visualization of template complex
zonotopes
Minkowski sums of line segments and some ellipsoids, hence can
have non-polyhedral real projections.
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Properties of TCZ: contraction based on
eigenstructure
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Properties of TCZ: Closure under system
operations
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Properties of TCZ: Closure under system
operations
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Properties of TCZ: Closure under system
operations
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Inclusion checking: A convex condition
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Convex condition for computing invariant
Let additive input set be overapproximated by C V in , c in , s in and
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Template selection
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Template selection
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Template selection
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Template selection
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Experiment: Networked vehicle platoon
Benchmark 2014
ARCH Work-
shop [3]
Fast switching:
Integer dwell times
Method
Comp.
e1 e2 e3
time (s)
octagon
UB UB UB NT
template
SpaceEx
100 support
UB UB UB NT
vectors
TCZ invariant 46 54 57 12.6
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Conclusion: Advantages of Template Complex
Zonotopes
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Conclusion: Advantages of Template Complex
Zonotopes
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Conclusion: Advantages of Template Complex
Zonotopes
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Conclusion: Advantages of Template Complex
Zonotopes
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Future work
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Future work
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Future work
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Arvind Adimoolam and Thao Dang.
Using complex zonotopes for stability verification.
In American Control Conference.
sites.google.com/site/cztopepubs/, 2016.
N.W. Bauer, S.J.L.M. van Loon, M.C.F. Donkers,
N van de Wouw, and W.P.M.H. Heemels.
Networked control systems toolbox: Robust stability
analysis made easy.
In IFAC Workshop on Distributed Estimation and Control
in Networked Systems (NECSYS), pages 5560, 2012.
Ibtissem Ben Makhlouf and Stefan Kowalewski.
Networked cooperative platoon of vehicles for testing
methods and verification tools.
In ARCH@ CPSWeek, pages 3742, 2014.
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Bjorn Wittenmark, Karl Johan Astrom, and Karl-Erik
Arzen.
Computer control: An overview.
IFAC Professional Brief, 1 2002.
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