Construction of switching sequences for reachability realization of switched impulsive control systems

This paper studies the construction of switching sequences for reachability realization of switched impulsive control systems. An approach is proposed to design switching sequences so that the reachable subspace of switched impulsive control systems is expressed in terms of the reachable state sets of the designed switching sequences. For a class of switched impulsive control systems, it is proved that a single switching sequence can be designed with its reachable state set coinciding with the reachable subspace. Periodic switching sequences are also constructed in this paper for the reachability realization problem. The results present a new way to exploit the switching mechanism to achieve the reachability and controllability of switched impulsive control systems. Copyright © 2007 John Wiley & Sons, Ltd.     

Linear positive control systems on time scales; controllability

Positive linear systems on arbitrary time scales are studied. The theory developed in the paper unifies and extends concepts and results known for continuous-time and discrete-time systems. A necessary and sufficient condition for a linear system on a time scale to be positive is presented. Properties of positive reachable sets are investigated and characterizations of various controllability properties are presented. A modified Gram matrix of the system is used to state necessary and sufficient condition of positive reachability of a positive system on an arbitrary time scale.     

Reachability and controllability of switched linear discrete-timesystems

This paper investigates the reachability and controllability issues for switched linear discrete-time systems. Geometric characterization of controllability is presented. For reversible systems, the controllable sets and the reachable sets are identified in Wonham's geometric approach, and verifiable conditions for reachability and controllability are also presented     

Reachability and observability of switched linear systems with continuous-time and discrete-time subsystems

In this paper, the reachability and observability criteria of switched linear systems with continuous-time and discrete-time subsystems are obtained. These criteria show that the reachable set may not be a subspace in the state space, because of the existence of discrete-time subsystems. Therefore, the definition of span reachability is proposed. Moreover, we demonstrate that the reachable set is equivalent to subspace if the discrete-time subsystems are reversible. The subspace algorithms for span reachability and unobservability are provided. One example is introduced to illustrate the effectiveness of the proposed criteria.     

多面体上彷射系统可达性问题研究

研究n维多面体上自治仿射系统的可达性问题. 目的在于得到多面体上最大正不变集和每个极大面的反向可达集(吸引域). 研究最大稳定不变仿射子空间, 并给出不变集和吸引域的性质, 最后通过分割算法确定两者的边界.     

Modeling,Reachability and Controllability of Bounded Petri Nets Based on Semi‐Tensor Product of Matrices

In this paper, we present a comprehensive modeling technique for bounded Petri net systems (BPNSs) in the framework of the semi‐tensor product (STP) of matrices. The two dynamic properties of BPNSs, namely, reachability and controllability, are investigated systematacially. First, the dynamics of a bounded Petri net system (BPNS), by resorting to the STP of matrices, are expressed in the form of a discrete‐time bilinear equation, which is called the marking evolution equation (MEE) of BPNSs. Second, controllability and transition‐marking adjacency matrix (TMAM) of BPNSs are defined, respectively. Further, several necessary and sufficient conditions for reachability and controllability of BPNSs are given in terms of the MEE and TMAM. Third, an efficient algorithm to verify reachability property of BPNSs, in this paper, is provided, as well as its computational complexity. Finally, an example is presented to illustrate the theoretical results in this paper. The main contribution of this paper is the presentation of a precise mathematical model for BPNSs. The main advantage of the proposed approach is that not only it can be applied to verify whether or not any given marking is reachable from the other in state space, but also it is very convenient to find all firing sequences between any two reachable markings.     

A Fibonacci control system with application to hyper-redundant manipulators

We study a model for snake-like robots based on the Fibonacci sequence. The present paper includes an investigation of the reachable workspace, a more general analysis of the control system underlying the model, its reachability and local controllability properties. In addition, we establish some fractal properties of the reachable workspace by means the theory of iterated function systems.     

Property analysis of logic Petri nets by marking reachability graphs

Logic Petri nets (LPNs) are suitable to describe and analyze batch processing functions and passing value indeterminacy in cooperative systems. To investigate the dynamic properties of LPNs directly, a new method for analyzing LPNs is proposed based on marking reachability graphs in this paper. Enabled conditions of transitions are obtained and a marking reachability graph is constructed. All reachable markings can be obtained based on the graph; the fairness and reversibility of LPNs are analyzed. Moreover, the computing complexity of the enabled conditions and reachable markings can be reduced by this method. The advantages of the proposed method are illustrated by examples and analysis.     

Regular Model Checking Using Inference of Regular Languages

Regular model checking is a method for verifying infinite-state systems based on coding their configurations as words over a finite alphabet, sets of configurations as finite automata, and transitions as finite transducers. We introduce a new general approach to regular model checking based on inference of regular languages. The method builds upon the observation that for infinite-state systems whose behaviour can be modelled using length-preserving transducers, there is a finite computation for obtaining all reachable configurations up to a certain length n. These configurations are a (positive) sample of the reachable configurations of the given system, whereas all other words up to length n are a negative sample. Then, methods of inference of regular languages can be used to generalize the sample to the full reachability set (or an overapproximation of it). We have implemented our method in a prototype tool which shows that our approach is competitive on a number of concrete examples. Furthermore, in contrast to all other existing regular model checking methods, termination is guaranteed in general for all systems with regular sets of reachable configurations. The method can be applied in a similar way to dealing with reachability relations instead of reachability sets too.     

不确定线性系统的可达集估计

本文针对线性不确定系统,研究了系统状态可达集估计问题.在已知参考输入,未知扰动有界的条件下,提出了一种新的可达集估计方法,并把所提方法推广到系统不稳定的情况,分别估计出不稳定系统的闭环可达集和开环可达集.通过分析动态系统的李雅普诺夫函数,将求取系统可达集的问题转化为线性矩阵不等式优化问题,并将可达集范围用椭球集形式表述.最后分别通过数值仿真分析,验证了所提出方法对线性系统可达集估计的有效性.     

基于多面体包含的非线性混成系统可达性分析

针对一类非线性混成系统的可达性问题,提出了一种基于多面体包含的分析方法。首先介绍了混成系统及其可达性,讨论了如何应用多面体包含对多项式混成系统进行线性近似,并采用量词消去和非线性优化方法来构造相应的线性混成系统,然后运用验证工具SpaceEx求得原非线性混成系统的过近似可达集,并应用于验证系统的安全性。     

Reachability analysis of rational eigenvalue linear systems

One of the key problems in the safety analysis of control systems is the exact computation of reachable state spaces for continuous-time systems. Issues related to the controllability and observability of these systems are well-studied in systems theory. However, there are not many results on reachability, even for general linear systems. In this study, we present a large class of linear systems with decidable reachable state spaces. This is approached by reducing the reachability analysis to real root isolation of exponential polynomials. Furthermore, we have implemented this method in a Maple package based on symbolic computation and applied to several examples successfully.     

The reachability problem for branching vector addition systems requires doubly-exponential space

Branching vector addition systems are an extension of vector addition systems where new reachable vectors may be obtained by summing two reachable vectors and adding an integral vector from a fixed finite set. The reachability problem for them is shown hard for doubly-exponential space. For an alternative extension of vector addition systems, where reachable vectors may be combined by subtraction, most decision problems of interest are shown undecidable.     

Reachability analysis of constrained switched linear systems

In this note, we investigate the reachability of switched linear systems with switching/input constraints. We prove that, under a mild assumption of the feasible switching signals, the reachability set is the reachable subspace of the unconstrained system. We also address the local reachability for switched linear systems with input constraints and present a complete criterion for a general class of switched linear systems.     

On the asymptotic stability of boundary trajectories

For a class of dynamical systems, it is shown that trajectories which remain on the boundary of a non-empty, connected subset of a reachable set must be asymptotically stable. Using this result and a reachability maximum principle, we obtain a control law which will drive the system from the origin to the boundary of the reachable set for a class of two-dimensional linear control systems. Using this control law, the reachable set is easily constructed.     

Reachable sets of second-order switched systems

This paper studies the reachability of second-order switched nonlinear systems in which the switching law is the only control action. For some initial conditions we find states that are reachable from the initial condition. We also give the switching law that drives the system from the initial state to the final state. Moreover, for switched systems with limit cycles, it is proved that the reachable set is totally determined for each switched convergent state. Finally, several examples and a real application are presented in order to illustrate the results.     

A Counterexample to a Conjecture of Gurvits on Switched Systems

We consider products of matrix exponentials under the assumption that the matrices span a nilpotent Lie algebra. In 1995, Gurvits conjectured that nilpotency implies that these products are, in some sense, simple. More precisely, there exists a uniform bound l such that any product can be represented as a product of no more than I matrix exponentials. This conjecture has important applications in the analysis of linear switched systems, as it is closely related to the problem of reachability using a uniformly bounded number of switches. It is also closely related to the concept of nice reachability for bilinear control systems. The conjecture is trivially true for the case of first-order nilpotency. Gurvits proved the conjecture for the case of second-order nilpotency using the Baker-Campbell-Hausdorff formula. We show that the conjecture is false for the third-order nilpotent case using an explicit counterexample. Yet, the underlying philosophy behind Gurvits' conjecture is valid in the case of third-order nilpotency. Namely, such systems do satisfy the following nice reachability property: any point in the reachable set can be reached using a piecewise constant control with no more than four switches. We show that even this form of finite reachability is no longer true for the case of fifth-order nilpotency.     

Controllability and reachability criteria for switched linear systems

This paper investigates the controllability and reachability of switched linear control systems. It is proven that both the controllable and reachable sets are subspaces of the total space. Complete geometric characterization for both sets is presented. The switching control design problem is also addressed.     

Timing constraint Petri nets and their application toschedulability analysis of real-time system specifications

We present timing constraint Petri nets (or TCPN's for short) and describe how to use them to model a real-time system specification and determine whether the specification is schedulable with respect to imposed timing constraints. The strength of TCPN's over other time-related Petri nets is in the modeling and analysis of conflict structures. Schedulability analysis is conducted in three steps: specification modeling, reachability simulation, and timing analysis. First, we model a real-time system by transforming its system specification along with its imposed timing constraints into a TCPN; we call this net N_s. Then we simulate the reachability of N_s to verify whether a marking, M_n, is reachable from an initial marking, M_o. It is important to note that a reachable marking in Petri nets is not necessarily reachable in TCPN's due to the imposed timing constraints, Therefore, in the timing analysis step, a reachable marking M_n, found in the reachability simulation step is analyzed to verify whether M_n, is reachable with the timing constraints. M_n is said to be reachable in the TCPN's if and only if we can find at least one firing sequence σ so that all transitions in σ are strongly schedulable with respect to M_o under the timing constraints. If such M_n can be found, then we can assert that the specification is schedulable under the imposed timing constraints, otherwise the system specification needs to be modified or the timing constraints need to be relaxed. We also present a synthesis method for determining the best approximation of the earliest fire beginning time (EFBT) and the latest fire ending time (LFET) of each strongly schedulable transition     

基于时序关系的系统失效可达图生成方法

针对状态事件故障树生成系统可达图过程中存在的状态空间爆炸问题,提出了一种基于时序关系的系统失效可达图生成方法。通过分析触发和被触发类型事件的时序关系,对存在时序关系的事件进行排序,根据时序关系获得系统构件间的所有不可同时到达状态对,对构件间的可同时到达状态建立笛卡尔积,获得系统的所有可同时到达状态对,根据连接表和最小割集获得系统失效的状态可达图,从而有效解决系统失效可达图生成过程中存在的状态空间爆炸问题。应用基于时序关系的系统失效可达图方法生成鱼攻系统失效可达图,实验结果 验证了该方法的可行性与稳定性; 同时也为表明其能有效地缓解状态空间爆炸问题,为状态事件故障树生成系统可达图提供了一种新的方法。