Online Supervisory Control of Hybrid Systems Using Embedded Simulation

This paper describes a technique for synthesizing supervisory discrete event controllers for hybrid plants. The discrete event model of the plant behaviour is assembled for a limited lookahead horizon at run time based on discrete abstractions of embedded continuous simulations. A supervisory controller for this limited horizon model is then computed as a state avoidance problem. Since the controller is valid for only a limited time/event horizon, it must be re-computed on-line periodically, in order to extend the operation to an infinite time horizon. We present a scheme for enforcing guaranteed safe and nonblocking behaviour which is rooted in standard industrial practice