Verification and Control of Cyber-Physical Systems (CSCI 5854, Spring 2017)
Course Information
Class Timings: Tuesday-Thursday 5:00 - 6:15 PM
Class Location: ECCR 139
Instructor: Sriram Sankaranarayanan
Pre-Requisites: Background in Embedded Systems or Control Theory.
Assignments
Assignments will be posted here.
Lecture Schedule and Notes
The schedule of lectures shown below is subject to change. We will
post lecture notes for most topics and videos for selected topics. We
will strive to post all material well in advance. Please take a look
through them, and come prepared for class.
ID | Date | Topics Covered | Lecture Notes |
1 | Jan 17th | Cyber-Physical Systems : Motivation | lectures/l1.html |
2 | Jan 19th | Finite state machines as synchronous models | lectures/l2.html |
3 | Jan 24th | Nondeterministic models. | lectures/l3.html |
4 | Jan 26th | Composition, Events and Communication between models. | lectures/l4.html |
5 | Jan 31st | Safety Verification: Overview of Model Checking | |
6 | Feb 2nd | Demo of Spin. Introduction to SAT/SMT solvers | |
7 | Feb 7 | Bounded model checking for reachability | |
8 | Feb 9 | Bounded model checking (Conclusion) | |
9 | Feb 14 | Continuous systems. Ordinary Differential Equations | |
10 | Feb 16 | Basic theory of ODEs. Existence and Uniqueness | |
11 | Feb 21 | Linear ODEs and introduction to feedback control | |
12 | Feb 28 | Linear systems: reachability analysis | |
13 | Mar 2 | Linear systems: stability | |
14 | Mar 7 | Controllability, pole placement and LQR | |
15 | Mar 9 | Nonlinear reachability analysis | |
16 | Mar 14 | Nonlinear stability: linearization (Hartman Grobman Theorem) | |
17 | Mar 16 | Nonlinear stability: Lyapunov functions |
|
Syllabus (Topics Covered)
Topics Covered
Mathematical Models of Systems and Their Properties
Structure of Feedback Control Systems: Hands-On Introduction
Continuous Time Models: Ordinary Differential Equations.
Synchronous Discrete Models: Finite State Machines
Asynchronous Models: Network of Automata and Synchronization.
Timed and Hybrid Models.
Property Specifications
Specification Types: Safety, Liveness, Reactivity, Stability.
-automata and temporal logics.
Verification Techniques
Model Checking
Deductive Verification: Lyapunov and Barrier Certificates
Simulation-Based Verification: RRTs and S-Taliro.
Application Examples
Real-Time Scheduling.
Air Traffic Management.
Automotive Systems.
Excitable Cells: Heart Tissue.
Anesthesia Control.
Insulin Infusion Control.
Note: Some of these topics will be explored through student projects.
Textbook
Note that no existing textbook is going to cover everything in the
syllabus. We will provide notes and pointers to textbooks.
A few books including Rajeev Alur's book or Lee and Seshia's book come
close to covering more than 60% in significant detail and other parts
in less detail.
Main Textbooks
Course Work
Course work will involve:
Exams
There will be two in-class ‘‘midterm’’ quizzes that will test the
material learned. Midterms will be announced two weeks in advance, and
held in class.
Grading
The final grade will be calculated by adding up grades for various parts
of the class:
Assignments: 50%
Project: 25%
Quizzes: 25%
Collaboration Policy
The collaboration policy is rather simple:
Inspiration is free: you may discuss homework assignments with anyone. You are especially encouraged to discuss solutions with your instructor and your classmates.
Plagiarism is forbidden: the assignments that you turn in should be written entirely on your own. While writing the assignment you are not allowed to consult any source other than the textbook(s) for the class, your own class notes or the lecture notes for the class. Copying/consulting from the solution of another classmate constitutes a violation of the course's collaboration policy and the honor code.
Do not search for a solution on-line: You may not actively search for a solution to the problem from the internet. This includes posting to newsgroup or asking experts at other universities.
When in doubt, ask: If you have doubts about this policy or would like to discuss specific cases, please ask the instructor.
Honor Code
We will expect strict adherence to our our
honor code. Please read and
understand the code thoroughly. If in doubt, ask the instructor. At
the end of the day, honor code violators hurt themselves by
sacrificing their integrity and risking hard-earned reputation for a
few measly grade points.
|