Controller synthesis for the “production cell” case study

Behaviour Analysis and Safety Conditions: a Case Study in CML

DAIMI Report Series ◽

10.7146/dpb.v26i528.7057 ◽

1997 ◽

Vol 26 (528) ◽

Author(s):

Hanne Riis Nielson ◽

Torben Amtoft ◽

Flemming Nielson

Keyword(s):

Embedded System ◽

Programming Language ◽

Program Analysis ◽

Process Algebra ◽

Control Program ◽

Inference Algorithm ◽

Behaviour Analysis ◽

Automatic Inference ◽

Production Cell

We describe a case study where novel program analysis technology has been used to pinpoint a subtle bug in a formally developed control program for an embedded system. The main technology amounts to first defining a process algebra (called behaviours) suited to the programming language used (in our case CML) and secondly to devise an annotated type and effect system for extracting behaviours from programs in a such a manner that an automatic inference algorithm can be developed. The case study is a control program developed for the "Karlsruhe Production Cell" and our analysis of the behaviours shows that one of the safety conditions fails to hold.

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Using coordinated atomic actions to design safety-critical systems: a production cell case study

Software Practice and Experience ◽

10.1002/(sici)1097-024x(19990710)29:8<677::aid-spe251>3.0.co;2-z ◽

1999 ◽

Vol 29 (8) ◽

pp. 677-697 ◽

Cited By ~ 12

Author(s):

A. F. Zorzo ◽

A. Romanovsky ◽

J. Xu ◽

B. Randell ◽

R. J. Stroud ◽

...

Keyword(s):

Critical Systems ◽

Safety Critical ◽

Atomic Actions ◽

Safety Critical Systems ◽

Production Cell

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L1 Controller Design for a Flying Wing Unmmaned Aerial Vehicle

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.436.18 ◽

2013 ◽

Vol 436 ◽

pp. 18-24

Author(s):

Adrian Mihail Stoica

Keyword(s):

Controller Design ◽

Design Method ◽

Output Feedback Control ◽

Controller Synthesis ◽

Control Law ◽

Design Algorithm ◽

Unmanned Air Vehicle ◽

Air Vehicle ◽

Aerial Vehicle

The paper presents a design method for the control system of a flying wing unmanned air vehicle (UAV). A modified loop-shaping type configuration is adopted for the controller synthesis such that maneuverability, robustness with respect to modeling uncertainty and sensitivity reduction performances are accomplished. A stabilizing output feedback control law minimizing the $L_1$ norm of the resulting system is determined. The proposed design algorithm is illustrated by a case study.

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Supervisory controller synthesis and implementation for safety PLCs

Discrete Event Dynamic Systems ◽

10.1007/s10626-021-00350-4 ◽

2021 ◽

Author(s):

Ferdie F. H. Reijnen ◽

Toby R. Erens ◽

Joanna M. van de Mortel-Fronczak ◽

Jacobus E. Rooda

Keyword(s):

Finite Automata ◽

Cyber Physical Systems ◽

Controller Synthesis ◽

Industrial Systems ◽

Physical Systems ◽

Safety Standards ◽

Supervisory Controller ◽

Close Proximity ◽

Supervisor Synthesis

AbstractThe development of supervisory controllers for cyber-physical systems is a laborious and error-prone process. Supervisor synthesis enables control designers to automatically synthesize a correct-by-construction supervisor from a model of the plant combined with a model of the control requirements. From the supervisor model, controller code can be generated which is suitable for the implementation on a programmable logic controller (PLC). Supervisors for industrial systems that operate in close proximity to humans have to adhere to strict safety standards. To achieve these standards, safety PLCs (SPLCs) are used. For SPLC implementation, the supervisor has to be split into a regular part and a safety part. In previous work, a method is proposed to automatically split a supervisor model for this purpose. The method assumes that the provided plant model is a collection of finite automata. In this paper, the extension to extended finite automata is described. Additionally, guidelines are provided for modeling the plant and the requirements to achieve a favorable splitting. A case study on a rotating bridge is elaborated which has been used to validate the method. The case study spans all development steps, including the implementation of the resulting supervisor to control the real bridge.

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