Optimal and robust controller synthesis using energy timed automata with uncertainty

Giovanni Bacci*, Patricia Bouyer, Uli Fahrenberg, Kim Guldstrand Larsen, Nicholas Markey, Pierre-Alain Reynier

*Corresponding author

Research output: Contribution to journalJournal articleResearchpeer-review


In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of the energy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit existence of energy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematica and Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previous approaches our method is completely automated and provides improved results.
Original languageEnglish
JournalFormal Aspects of Computing
Issue number1
Pages (from-to)3-25
Number of pages23
Publication statusPublished - 2021


  • Controller synthesis
  • Energy timed automata
  • Quantifier elimination

Fingerprint Dive into the research topics of 'Optimal and robust controller synthesis using energy timed automata with uncertainty'. Together they form a unique fingerprint.

Cite this