Abstract
In this paper, we present a falsification scheme for nonlinear systems with input and/or state delays without relying on their explicit models. We formulate the falsification of predefined specifications as an optimal control problem, and exploit a functional gradient based method to solve it. Since the approach does not require an explicit model of the system, it is potentially applicable to industrial models of high complexity or directly to experimental hardware. We consider the falsification of a gasoline engine air-to-fuel ratio control system as a case study.
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