CPSWeek 2016 Tutorial @ 2016 Cyberphysical Systems Week Vienna, Austria
Control Theoretical Tools for Analysis and Design of CyberPhysical Systems
Instructor
Ricardo G. Sanfelice, Ph.D.
Tutorial Summary
Cyberphysical systems combine digital and analog devices, interfaces, networks, computer sys tems, and the like with the natural and manmade 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 cyberphysical applications, which are typically translated into stringent robustness standards, aggravate the matter. Unfortunately, stateoftheart tools for system analysis and design cannot cope with the intrinsic complexity in cyberphysical systems. Tools suitable for analysis and design of cyberphysical 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 cyberphysical systems using control theoretical tools. After an introduction to the class of systems of interest via examples in engineering and science, several models of continuoustime systems and discretetime 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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YouTube Channel
Hybrid Systems Lab
Tutorial Topics
Course topics:
 Models of physical and cyber components
 Finite state machines
 Event triggered systems
 Hybrid automata
Verification  Invariants
 Linear Temporal Logic
Applications: modeling, analysis, and control of


Tutorial Objectives
By the end of the tutorial, students should be able to do the following:
• Modeling

Explain the difference between cyberphysical systems, continuoustime systems, and discretetime systems;

Describe mathematically cyberphysical systems given in terms of finite state machines, eventtriggered systems, stateflow, timed automata, hybrid automata;

Determine what are executions to cyberphysical systems.
• Analysis and Design

Assess stability of a cyberphysical systems;

Compute invariants;

Understand the basics of simulating and verifying low dimensional cyberphysical systems.
Short Bio of Lecturer
Ricardo Sanfelice is an Associate Professor at the Department of Computer Engineering, University 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 CyberPhysical 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 cyberphysical 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 CyberPhysical Systems
See https://hybrid.soe.ucsc.edu/cmpe1492492016 for more details.
Suggested pretutorial activities
The attendants are encouraged to perform the following activities:
 Read the first 15 pages of the article [34] at the "publications" page of our website (https://hybrid.soe.ucsc.edu/biblio)
 Read the section "Simulation in Matlab/Simulink" of article [34].
 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 inclass activities
Example 1 for Worksheet 1 is available here.
Example 2 for Worksheet 1 is available here.