S. Ramamoorthy and B. Kuipers. 2004.
Controller synthesis using qualitative models and simulation.
In J. de Kleer and K. Forbus (Eds.), International Workshop
on Qualitative Reasoning (QR-2004).
Many engineering systems require the synthesis of global behaviors in
nonlinear dynamical systems. Multiple model approaches to control
design make it possible to synthesize robust and optimal versions of
such global behaviors. We propose a methodology called Qualitative
Heterogeneous Control that enables this type of control design. This
methodology is based on a separation of concerns between qualitative
correctness and quantitative optimization. Qualitative sufficient
conditions are derived, that define a space of quantitative control
strategies. These sufficient conditions are used in conjunction with
a numerical optimization procedure to synthesize nonlinear optimal
controllers that are robust in practical implementations. We
demonstrate this process of controller synthesis for the global
control of an inverted pendulum system.
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