使用SoapBox和Stabhyli验证PI控制器

ARCH@CPSWeek Pub Date : 2017-02-01 DOI:10.29007/h9hb

Eike Möhlmann, Willem Hagemann, Astrid Rakow

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引用次数: 9

摘要

我们描述了验证转向控制器规格的实际经验。混合自动机实现PI控制规则，并将车辆的速度作为环境的输入。通过结合Stabhyli和SoapBox工具，我们建立了转向控制器的几个安全性和活动性，包括收敛到平衡状态。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Verifying a PI Controller using SoapBox and Stabhyli

We describe practical experiences on verifying a steering controller specification. The hybrid automaton implements a PI control rule and considers the vehicle’s velocity as input from the environment. By combining the tools Stabhyli and SoapBox, we establish several safety and liveness properties for the steering controller, including convergence towards an equilibrium.

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