Supervisory control of switching control systems

In this paper, the problem of designing a switching policy for an adaptive switching control system is formulated as a problem of supervisory control of a discrete-event system (DES). Two important problems in switching control are then addressed using the DES formulation and the theory of supervisory control under partial observation. First, it is verified whether for a given set of controllers, a switching policy satisfying a given set of constraints on the transitions among controllers exists. If so, then a minimally restrictive switching policy is designed. Next, an iterative algorithm is introduced for finding a minimal set of controllers for which a switching policy satisfying the switching constraints exists. It is shown that in the supervisory control problem considered in this paper, limitations on event observation are the factors that essentially restrict supervisory control. In other words, once observation limitations are respected, limitations on control will be automatically satisfied. This result is used to simplify the proposed iterative algorithm for finding minimal controller sets