Abstraction, Discretization, and Robustness in Temporal Logic Control of Dynamical SystemsJ. Liu, and N. Ozay Abstraction-based, hierarchical approaches to control synthesis from temporal logic specifications for dynamical systems have gained increased popularity over the last decade. Yet various issues commonly encountered and extensively dealt with in control systems have not been adequately discussed in the context of temporal logic control of dynamical systems, such as inter-sample behaviors of a sampled-data system, effects of imperfect state measurements and unmodeled dynamics, and the use of time-discretized models to design controllers for continuous-time dynamical systems. We discuss these issues in this paper. The main motivation is to demonstrate the possibility of accounting for the mismatches between a continuous-time control system and its various types of abstract models used for control synthesis. We do this by incorporating additional robustness measures in the abstract models. Such robustness measures are gained at the price of either increased nondeterminism in the abstracted models or relaxed versions of the specification being realized. Under a unified notion of abstraction, we provide concrete means of incorporating these robustness measures and establish results that demonstrate their effectiveness in dealing with the above mentioned issues. |