A Fully Automated Framework for Control of Linear Systems from Temporal Logic Specifications

Abstract

We consider the following problem: given a linear system and a linear temporal logic (LTL) formula over a set of linear predicates in its state variables, find a feedback control law with polyhedral bounds and a set of initial states so that all trajectories of the closed loop system satisfy the formula. Our solution to this problem consists of three main steps. First, we partition the state space in accordance with the predicates in the formula, and construct a transition system over the partition quotient, which captures our capability of designing controllers. Second, using a procedure resembling model checking, we determine runs of the transition system satisfying the formula. Third, we generate the control strategy. Illustrative examples are included.