An essential introduction to the analysis and verification of control system software The verification of control system software is critical to a host of technologies and industries, from aeronautics and medical technology to the cars we drive. The failure of controller software can cost people their lives. In this authoritative and accessible book, Pierre-Loïc Garoche provides control engineers and computer scientists with an indispensable introduction to the formal techniques for analyzing and verifying this important class of software. Too often, control engineers are unaware of the issues surrounding the verification of software, while computer scientists tend to be unfamiliar with the specificities of controller software. Garoche provides a unified approach that is geared to graduate students in both fields, covering formal verification methods as well as the design and verification of controllers. He presents a wealth of new verification techniques for performing exhaustive analysis of controller software. These include new means to compute nonlinear invariants, the use of convex optimization tools, and methods for dealing with numerical imprecisions such as floating point computations occurring in the analyzed software. As the autonomy of critical systems continues to increase—as evidenced by autonomous cars, drones, and satellites and landers—the numerical functions in these systems are growing ever more advanced. The techniques presented here are essential to support the formal analysis of the controller software being used in these new and emerging technologies.

Hybrid systems describe the interaction of software, described by finite models such as finite-state machines, with the physical world, described by infinite models such as differential equations. This book addresses problems of verification and controller synthesis for hybrid systems. Although these problems are very difficult to solve for general hybrid systems, several authors have identified classes of hybrid systems that admit symbolic or finite models. The novelty of the book lies on the systematic presentation of these classes of hybrid systems along with the relationships between the hybrid systems and the corresponding symbolic models. To show how the existence of symbolic models can be used for verification and controller synthesis, the book also outlines several key results for the verification and controller design of finite systems. Several examples illustrate the different methods and techniques discussed in the book.

This book bridges fundamental gaps between control theory and formal methods. Although it focuses on discrete-time linear and piecewise affine systems, it also provides general frameworks for abstraction, analysis, and control of more general models. The book is self-contained, and while some mathematical knowledge is necessary, readers are not expected to have a background in formal methods or control theory. It rigorously defines concepts from formal methods, such as transition systems, temporal logics, model checking and synthesis. It then links these to the infinite state dynamical systems through abstractions that are intuitive and only require basic convex-analysis and control-theory terminology, which is provided in the appendix. Several examples and illustrations help readers understand and visualize the concepts introduced throughout the book.

Formal Verification: An Essential Toolkit for Modern VLSI Design, Second Edition presents practical approaches for design and validation, with hands-on advice to help working engineers integrate these techniques into their work. Formal Verification (FV) enables a designer to directly analyze and mathematically explore the quality or other aspects of a Register Transfer Level (RTL) design without using simulations. This can reduce time spent validating designs and more quickly reach a final design for manufacturing. Building on a basic knowledge of SystemVerilog, this book demystifies FV and presents the practical applications that are bringing it into mainstream design and validation processes. New sections cover advanced techniques, and a new chapter, The Road To Formal Signoff, emphasizes techniques used when replacing simulation work with Formal Verification. After reading this book, readers will be prepared to introduce FV in their organization to effectively deploy FV techniques that increase design and validation productivity.

This publication covers all the topics which are relevant to Advanced Robotics today, ranging from Systems Design to Reasoning and Planning. It is based on the Seventh International Symposium on Robotics Research held in Germany on October, 21 - 24th, 1995. The papers were written by specialists in the field from the United States, Europe, Japan, Australia and Canada. The editors, who also chaired this symposium, present the latest research results as well as new approaches to long standing problems. Robotics Research is a contribution to the emerging concepts, methods and tools that shape Robotics. The papers range from pure research reports to application-oriented studies. The topics covered include: manipulation, control, virtual reality, motion planning, 3D vision and industrial systems' issues.

This book is a solid foundation of the most important formalisms used for specification and verification of reactive systems. In particular, the text presents all important results on m-calculus, w-automata, and temporal logics, shows the relationships between these formalisms and describes state-of-the-art verification procedures for them. It also discusses advantages and disadvantages of these formalisms, and shows up their strengths and weaknesses. Most results are given with detailed proofs, so that the presentation is almost self-contained. Includes all definitions without relying on other material Proves all theorems in detail Presents detailed algorithms in pseudo-code for verification as well as translations to other formalisms

Modern embedded systems require high performance, low cost and low power consumption. Such systems typically consist of a heterogeneous collection of processors, specialized memory subsystems, and partially programmable or fixed-function components. This heterogeneity, coupled with issues such as hardware/software partitioning, mapping, scheduling, etc., leads to a large number of design possibilities, making performance debugging and validation of such systems a difficult problem. Embedded systems are used to control safety critical applications such as flight control, automotive electronics and healthcare monitoring. Clearly, developing reliable software/systems for such applications is of utmost importance. This book describes a host of debugging and verification methods which can help to achieve this goal. - Covers the major abstraction levels of embedded systems design, starting from software analysis and micro-architectural modeling, to modeling of resource sharing and communication at the system level - Integrates formal techniques of validation for hardware/software with debugging and validation of embedded system design flows - Includes practical case studies to answer the questions: does a design meet its requirements, if not, then which parts of the system are responsible for the violation, and once they are identified, then how should the design be suitably modified?

This state-of-the-art monograph presents a coherent survey of a variety of methods and systems for formal hardware verification. It emphasizes the presentation of approaches that have matured into tools and systems usable for the actual verification of nontrivial circuits. All in all, the book is a representative and well-structured survey on the success and future potential of formal methods in proving the correctness of circuits. The various chapters describe the respective approaches supplying theoretical foundations as well as taking into account the application viewpoint. By applying all methods and systems presented to the same set of IFIP WG10.5 hardware verification examples, a valuable and fair analysis of the strenghts and weaknesses of the various approaches is given.

"This book addresses the development of reconfigurable embedded control systems and describes various problems in this important research area, which include static and dynamic (manual or automatic) reconfigurations, multi-agent architectures, modeling and verification, component-based approaches, architecture description languages, distributed reconfigurable architectures, real-time and low power scheduling, execution models, and the implementation of such systems"--

Integrating formal property verification (FPV) into an existing design process raises several interesting questions. This book develops the answers to these questions and fits them into a roadmap for formal property verification – a roadmap that shows how to glue FPV technology into the traditional validation flow. The book explores the key issues in this powerful technology through simple examples that mostly require no background on formal methods.