A hierarchical design methodology for implementing safety-critical constrained controllers with guaranteed stability and failure detection

A control input correction strategy is developed whereby an arbitrary given control law may be deployed when constraint satisfaction, closed-loop stability and safety-critical certification are required. Furthermore the proposed approach allows for notification in case the given control law fails in satisfying basic performance criteria, or when hijacking of communications links or sabotage is suspected. The proposed approach employs a multi-parametric programming approach to least-invasively correct a given controller in a way that is implementable in a manner certifiable for safety-critical deployments.