CPS Tutorial

CPSWeek 2016 Tutorial @ 2016 Cyber-physical Systems Week Vienna, Austria 

Control Theoretical Tools for Analysis and Design of Cyber-Physical Systems 


Ricardo G. Sanfelice, Ph.D.

Associate Professor
Department of Computer Engineering
University of California Santa Cruz
1156 High Street  MS:SOE3
Santa Cruz, CA 95064 
Email: r...@ucsc.edu

Tutorial Summary

Cyber-physical systems combine digital and analog devices, interfaces, networks, computer sys- tems, and the like with the natural and man-made physical world. The inherent interconnected and heterogeneous combination of behaviors in these systems makes their analysis and design a challenging task. Safety and reliability specifications imposed in cyber-physical applications, which are typically translated into stringent robustness standards, aggravate the matter. Unfortunately, state-of-the-art tools for system analysis and design cannot cope with the intrinsic complexity in cyber-physical systems. Tools suitable for analysis and design of cyber-physical systems must allow a combination of physical or continuous dynamics and the cyber or computational components, as well as handle a variety of types of perturbations, such as exogenous disturbances, time delays, and system failures.

This tutorial provides an introduction to modeling and analysis of cyber-physical systems using control theoretical tools. After an introduction to the class of systems of interest via examples in engineering and science, several models of continuous-time systems and discrete-time systems are introduced. The main focus is on models in terms of differential equations for the modeling of physical process. Finite state machines and stateflow are introduced and combined with the physical models. With this basic background, the more advanced timed automata and hybrid automata models are outlined. Stability and forward invariance are presented as analysis and design tools. A brief introduction to linear temporal logic is also given. In addition, tools for analytical study and numerical verification are discussed. 


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 Tutorial Topics 

Course topics:

  • Models of physical and cyber components
  • Finite state machines
  • Event triggered systems
  • Hybrid automata
  • Invariants
  • Linear Temporal Logic

Applications: modeling, analysis, and control of

  • Unmanned Aerial Vehicles
  • Robotic manipulators
  • Embedded systems
  • Mobile networks
  • Bio-inspired systems



Tutorial Objectives

By the end of the tutorial, students should be able to do the following: 

• Modeling 

  1. Explain the difference between cyber-physical systems, continuous-time systems, and discrete-time systems; 

  2. Describe mathematically cyber-physical systems given in terms of finite state machines, event-triggered systems, stateflow, timed automata, hybrid automata; 

  3. Determine what are executions to cyber-physical systems. 

• Analysis and Design

  1. Assess stability of a cyber-physical systems;

  2. Compute invariants;

  3. Understand the basics of simulating and verifying low dimensional cyber-physical systems.


Short Bio of Lecturer

Ricardo Sanfelice is an Associate Professor at the Department of Computer EngineeringUniversity of California at Santa Cruz. He received the B.S. degree in Electronics Engineering from the Universidad Nacional de Mar del Plata, Buenos Aires, Argentina, in 2001. He joined the Center for Control, Dynamical Systems, and Computation at the University of California, Santa Barbara in 2002, where he received his M.S. and Ph.D. degrees in 2004 and 2007, respectively. During 2007 and 2008, he was a Postdoctoral Associate at the Laboratory for Information and Decision Systems at the Massachusetts Institute of Technology. He visited the Centre Automatique et Systemes at the Ecole de Mines de Paris for four months. From 2009 to 2014, he was Assistant Professor in the Aerospace and Mechanical Engineering at the University of Arizona, where he was also affiliated with the Department of Electrical and Computer Engineering and the Program in Applied Mathematics. 

Main References for Tutorial

The tutorial is based in part on the article 

Analysis and Design of Cyber-Physical Systems: A Hybrid Control Systems Approach

which is part of the book 

Cyber Physical Systems: From Theory to Practice: CRC Press, 2016

the recent module on modeling and control of cyber-physical systems in the 2015 Summer Ph.D. School at the Dutch Institute of Systems and Control (DISC), and the undergraduate/graduate course 

CMPE149/249: Introduction to Cyber-Physical Systems

See https://hybrid.soe.ucsc.edu/cmpe149-249-2016 for more details.

Suggested pre-tutorial activities

The attendants are encouraged to perform the following activities:

  1. Read the first 15 pages of the article [34] at the "publications" page of our website (https://hybrid.soe.ucsc.edu/biblio)
  2. Read the section "Simulation in Matlab/Simulink" of article [34].
  3. Download the simulator files in the "software" page of our website (https://hybrid.soe.ucsc.edu/software) and simulate a hybrid system that you are interested in.

Material for in-class activities

Example 1 for Worksheet 1 is available here.

Example 2 for Worksheet 1 is available here.