Modular supervision of hybrid systems: a DES approach

Abstract

This paper presents the formulation and solution of a modular supervisory control problem for a class of hybrid systems in which threshold-crossing events in the continuous state space force discrete state transitions. The continuous dynamics are determined by a discrete condition, which depends on the current discrete state of the system. The problem is to construct modular supervisors, each to satisfy a particular specification given in terms of sequences of threshold events, in such a way that the joint action of these supervisors results in an optimal control action. The supervisors for the hybrid system are obtained using the theory of supervisor synthesis for discrete event systems. A condition under which the proposed approach can be applied is given and an illustrative example is presented.