PAHSCTRL - A control synthesis toolbox for piecewise-affine hybrid systems

The focus of this paper is automatic generation of controllers for piecewise-affine hybrid systems (PAHS). Using the proposed method fault tolerant controllers can be designed as faults modelled with uncontrollable events causing switches between discrete modes. The design method involves abstracting PAHS to discrete games and deriving controllers based on winning strategies for the game. The paper presents a Matlab toolbox capable of computing discrete game abstractions of the PAHS and deriving control laws based on solutions to the discrete game. This enables computation of a type of gain scheduling controller where the control gains are adjusted based on the position in the state space and the current fault condition.