4 views

Uploaded by Arvind Adimoolam

A new set representation "Template complex zonotopes", slides presentation at GT-VERIF 2017.

- Manolis Koliopoulos (1)
- Mth501 Collection of Old Papers
- iftomm_wien_fischer-strackeljan.pdf
- Chapter 04
- lec18
- httpieeexplore.ieee.orgstampstamp.jsptp=&arnumber=371543
- Guru Ppt - Phase 1
- Application of Eigenvectors and Eigenvalues
- SD 661 Home Work
- Microscopic Boundary Condition Prtesentation
- Frequency Dependent Impedance
- ponencia_16042005
- B.tech.Aerospace Engineering Syllabus
- UT Dallas Syllabus for math2418.5u1.09u taught by Cyrus Malek (sirous)
- Tr Einen 1993
- Appendix A
- mm-46
- UT Dallas Syllabus for ee2300.501 05s taught by Edward Esposito (exe010200)
- A Variable Leaky LMS Adaptive Algorithm
- How to Measure Errors.pdf

You are on page 1of 38

VERIMAG, Grenoble, France

GT-VERIF 2017

1 / 22

Invariant

the invariant.

2 / 22

System description: General model

A : Q Mnn (R) maps to a finite set of matrices,

U Rn is a bounded input set.

I State: Pair (q, x) Q Rn .

I Trajectory: (q, x) : Z0 Q Rn if

x(k + 1) = Aq(k) x(k) + u : u U

3 / 22

Invariant computation problem

S Q Rn such that q, q 0 Q,

Aq Sq U Sq0 (Invariance)

x Sq , Tx d (Safety)

I S (Containment of initial set)

4 / 22

Features of a good set representation and

computation

2 Closure under system operations.

3 Avoid wrapping effect.

4 Reasonable complexity of invariant computation.

5 / 22

1) Eigenstructure based contraction

The representation should capture contraction along stable

eigenvectors of linear sub-systems.

6 / 22

1) Eigenstructure based contraction

The representation should capture contraction along stable

eigenvectors of linear sub-systems.

Example: Quadratic Lyapunov or Ellipsoids: Consider sub-level

set of n

X

eiT x e Ti x ,

f (x) =

i=1

6 / 22

1) Eigenstructure based contraction

eigenvectors.

Counterexample: Polytopes and usual zonotopes can not

utilize complex eigenstructure.

7 / 22

2) Closure under system operations

good approximation quality.

I Example: Zonotopes, Convex polytopes etc are closed

under linear transformation and Minkowski sum.

8 / 22

2) Closure under system operations

good approximation quality.

I Example: Zonotopes, Convex polytopes etc are closed

under linear transformation and Minkowski sum.

I Counterexample: Ellipsoids are not closed under

Minkowski sum.

8 / 22

3) Avoid wrapping effect

step-by-step computation.

Vectors or Template polyhedra can suffer from

wrapping effect.

9 / 22

3) Avoid wrapping effect

step-by-step computation.

Vectors or Template polyhedra can suffer from

wrapping effect.

I Avoids wrapping effect: Quadratic lyapunov using LMIs

and BMIs.

9 / 22

4) Reasonable complexity of computation

10 / 22

4) Reasonable complexity of computation

I Counterexample: Iterative convex hull approximation.

Size increases in

each step propor-

tional to dimen-

sion.

10 / 22

Analysis of previous approaches

Property lyapunov polyhedra or polyhedra

(Ellipsoid) Support vectors

Eigenstructure

based X 7 7

contraction

Minkowski sum

7 X X

closure

Avoid wrapping

X 7 X

effect

Complexity of

reasonable reasonable high

computation

11 / 22

Template complex zonotopes

1 Complex valued generators and complex combining

coefficients

2 Variable bounds on absolute values of combining coefficients.

Definition

Let V Mnm (C) (template) and s Rm 0 (scaling factors)

n

and c R (center). Then the following is a template

complex zonotope:

C (V , c, s) = {V : Cm , |i | si i {1, ..., m}} .

12 / 22

Geometric visualization of template complex

zonotopes

Minkowski sums of line segments and some ellipsoids, hence can

have non-polyhedral real projections.

13 / 22

Properties of TCZ: contraction based on

eigenstructure

14 / 22

Properties of TCZ: Closure under system

operations

15 / 22

Properties of TCZ: Closure under system

operations

I Minkowski sum:

0 0 0

0

0 s

C (V , c, s) C (V , c , s ) = C V V , c + c , .

s0

15 / 22

Properties of TCZ: Closure under system

operations

I Minkowski sum:

0 0 0

0

0 s

C (V , c, s) C (V , c , s ) = C V V , c + c , .

s0

I Projection: Let z Rn . Then

maxxC(V ,c,s) z T x = z T c + z T V s.

15 / 22

Inclusion checking: A convex condition

inclusion.

I C V0 0 0

nm0 , c , s v C (Vnm , c, s) if

VX = V 0 D (s 0 ) , Vy = c 0 c, and

m0

!

m X

max |yi | + |Xij | si 0

i=1

j=1

constraints on the center and scaling factors.

16 / 22

Convex condition for computing invariant

Let additive input set be overapproximated by C V in , c in , s in and

Sq is defined as C (V , cq , sq ) is a safe invariant if q, q 0 Q,

in

in sq

C Aq V V , cq + c , v C (V , cq0 , sq0 ) (1)

s in

/ inclusion of initial set/

C (G , 0, h) v C (V , cq , sq ) (2)

/ satisfaction of linear constraints (safety)/

Tcq + |TV | sq d (3)

17 / 22

Template selection

18 / 22

Template selection

products. This captures contractive directions.

18 / 22

Template selection

products. This captures contractive directions.

2 Append input set overapproximation template W and its

transformations the linear matrices Aq . This helps in

good quality overapproximation of Minkowski sum with

input set after template based abstraction.

18 / 22

Template selection

products. This captures contractive directions.

2 Append input set overapproximation template W and its

transformations the linear matrices Aq . This helps in

good quality overapproximation of Minkowski sum with

input set after template based abstraction.

3 Any arbitrary set of vectors can be added. Increases

accuracy of verification, but at a computational expense.

18 / 22

Experiment: Networked vehicle platoon

Benchmark 2014

ARCH Work-

shop [3]

Fast switching:

Integer dwell times

Method

Comp.

e1 e2 e3

time (s)

octagon

UB UB UB NT

template

SpaceEx

100 support

UB UB UB NT

vectors

TCZ invariant 46 54 57 12.6

19 / 22

Experiment: Networked control system

Astrom et.al.]

Value recommended in [4] 0.08 0.22

NCS toolbox [2] 0.08 0.4

Template complex zonotope 0.08 0.53

20 / 22

Conclusion: Advantages of Template Complex

Zonotopes

21 / 22

Conclusion: Advantages of Template Complex

Zonotopes

2 Closure under system operations.

21 / 22

Conclusion: Advantages of Template Complex

Zonotopes

2 Closure under system operations.

3 Circumvent wrapping effect (i.e., compute invariant in

single step by solving convex constraints).

21 / 22

Conclusion: Advantages of Template Complex

Zonotopes

2 Closure under system operations.

3 Circumvent wrapping effect (i.e., compute invariant in

single step by solving convex constraints).

4 Complexity of computation is reasonable (polynomial

number of SOCP constraints to solve).

21 / 22

Future work

affine hybrid systems, where switching is controlled by

linear constraints.

22 / 22

Future work

affine hybrid systems, where switching is controlled by

linear constraints.

I Upcoming research: Augmented complex zonotopes to

handle controlled switching in affine systems.

22 / 22

Future work

affine hybrid systems, where switching is controlled by

linear constraints.

I Upcoming research: Augmented complex zonotopes to

handle controlled switching in affine systems.

I Challenge: Extending these ideas to non-linear hybrid

systems. How to use the feature of TCZ to incorporate

complex eigenstructure for Non-Linear hybrid systems?

22 / 22

Arvind Adimoolam and Thao Dang.

Using complex zonotopes for stability verification.

In American Control Conference.

sites.google.com/site/cztopepubs/, 2016.

N.W. Bauer, S.J.L.M. van Loon, M.C.F. Donkers,

N van de Wouw, and W.P.M.H. Heemels.

Networked control systems toolbox: Robust stability

analysis made easy.

In IFAC Workshop on Distributed Estimation and Control

in Networked Systems (NECSYS), pages 5560, 2012.

Ibtissem Ben Makhlouf and Stefan Kowalewski.

Networked cooperative platoon of vehicles for testing

methods and verification tools.

In ARCH@ CPSWeek, pages 3742, 2014.

22 / 22

Bjorn Wittenmark, Karl Johan Astrom, and Karl-Erik

Arzen.

Computer control: An overview.

IFAC Professional Brief, 1 2002.

22 / 22

- Manolis Koliopoulos (1)Uploaded bySushil Mundel
- Mth501 Collection of Old PapersUploaded bycs619finalproject.com
- iftomm_wien_fischer-strackeljan.pdfUploaded byGustavo A. da Silva
- Chapter 04Uploaded by許博翔
- lec18Uploaded bySourabh Alok Sao
- httpieeexplore.ieee.orgstampstamp.jsptp=&arnumber=371543Uploaded byJorge Luis Cazho Tobar
- Guru Ppt - Phase 1Uploaded byvinay
- Application of Eigenvectors and EigenvaluesUploaded byAnonymous zfmlsb2GjA
- SD 661 Home WorkUploaded bysimon maaakla
- Microscopic Boundary Condition PrtesentationUploaded byMohammad Kazemi
- Frequency Dependent ImpedanceUploaded byasghar
- ponencia_16042005Uploaded byvlax035
- B.tech.Aerospace Engineering SyllabusUploaded byRobin Johny
- UT Dallas Syllabus for math2418.5u1.09u taught by Cyrus Malek (sirous)Uploaded byUT Dallas Provost's Technology Group
- Tr Einen 1993Uploaded byPadmo Padmundono
- Appendix AUploaded byRahil Verma
- mm-46Uploaded bySomasekhar Chowdary Kakarala
- UT Dallas Syllabus for ee2300.501 05s taught by Edward Esposito (exe010200)Uploaded byUT Dallas Provost's Technology Group
- A Variable Leaky LMS Adaptive AlgorithmUploaded byYoung Joo Yang
- How to Measure Errors.pdfUploaded byGaurava Gautam
- Aeroelastic Analysis of PropellersUploaded bymsrchand
- MM PrefinalUploaded byMohan Rao
- Computing the Greatest X-eigenvector of Fuzzy Neutrosophic Soft MatrixUploaded byMia Amalia
- Solution Session3 Exercise2Uploaded byapi-3737025
- 2007_an Algorithm for Determining Iso Morph Ism UsingUploaded byManoj Lohumi
- l_11Uploaded bySanjay Dubey
- DG CG MG Paper.pdfUploaded byg161803
- Earthquake Engineering at Berkeley.pdfUploaded by...?
- Seleccion de Metodo MulticriterioUploaded byDiego Huangal Laguna
- Sjr05010202 Mathematical MethodsUploaded byandhracolleges

- Complex ZonotopeUploaded byArvind Adimoolam
- QuotesUploaded byArvind Adimoolam
- QR ComplexityUploaded byArvind Adimoolam
- Aptitude Logical ReasoningUploaded byChandramauli Mishra
- Unp HashingUploaded byArvind Adimoolam
- Back Wright 98 Refinement CalculusUploaded byArvind Adimoolam
- WinnowUploaded byArvind Adimoolam
- ddagarc.pdfUploaded byArvind Adimoolam
- Feedback AbstractionUploaded byArvind Adimoolam
- Assignment 1Uploaded byanil87t

- FUZZY LOGIC-SLIDEUploaded byBalasingam Periasamy
- IJEDe_17_02_Veneziani_935_4DEFUploaded byAhmed El Sharkawy
- Matter and Our Surroundings Test SolutionsUploaded bydayanandan1
- Crim2 Title 11Uploaded byMunchie Michie
- 2017 NCCS Executive Committee for Webpage_rv2Uploaded byNCCS Admin
- Gov. Snyder's letter to Sen. Debbie StabenowUploaded byDetroit Free Press
- KOI HabitableUploaded bySoftkiller
- PortfolioUploaded byjoewnapier
- Prayers for Law Students.docxUploaded byBianca Pastor
- What Men with Asperger Want to know about Women, Dating and RelationshipsUploaded bysandor
- reflection letter lUploaded byapi-336072959
- The New ParamanderUploaded byLirreka
- Acute GlomerulonephritisUploaded byRoy Hudson
- 3.Mechanics of Land Subsidence Due to Fluid WithdrawalUploaded bySerge Lipanchikov
- Exchange 2013 Mp GuideUploaded byManu2test
- HappinessUploaded byJain Sumeet
- CRN SynopsisUploaded byNavpreet Singh
- Entrepreneurship DevelopmentUploaded byIna Pawar
- IB Geography Extended Essay GuidelineUploaded byMiles Monge
- 2016 Applicant HandbookUploaded byAlex Nieves
- 8 Navarro v Executive SecretaryUploaded byAlexandraSoledad
- Amusements in Mathematics by Henry Ernest DudeneyUploaded bysigjoatrumbz
- (9) Sample Opinion Essay Pjj (1)Uploaded byVanitha Sammogram
- Evolving the Eight-function Model: 8 Archetypes guide how the function-attitudes are expressed in an individual psyche by John BeebeUploaded byMarkoff Chaney
- Robust Railway Crack Detection Scheme (RRCDS) Using LED-LDR Assembly.pdfUploaded bysrcembedded
- stoma care (peer)Uploaded byapi-283746687
- Audit RiskUploaded byAsavari Singh
- Week 1 - The God of Second ChancesUploaded bynorthsidebaptist
- NARAYANA KAVACHAMUploaded bypraveensreenivasa
- Free Legal Aid in IndiaUploaded bymandarlotlikar