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US 11,054,807 B2Granted
Systems and methods for hybrid automata mining from input-output traces of cyber-physical systems
AssigneeArizona Board of Regents on behalf of Arizona State University
InventorsSandeep K. S. Gupta, Ayan Banerjee, Imane Lamrani
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Abstract
Systems and methods for mining hybrid automata from input-output traces of cyber-physical systems are disclosed herein.
Claims19
A system for inferring and fine tuning control parameters of a cyber-physical system, comprising:
- a physical system including an actuator and one or more sensors that produces an input signal and an output signal, a relationship between the input signal and the output signal being representative of physical dynamics of the physical system;
- and
- a controller that generates a hybrid automaton based on continuous variables measured from the one or more sensors of the physical system and computes a next controller output for the actuator of the physical system based on the hybrid automaton, wherein to generate the hybrid automaton, the controller
- accesses as inputs the continuous variables including time series input and output traces of the physical system,
- segments the time series input and output traces into a plurality of segments according to a sudden change in a slope of the continuous variables,
- infers a controller strategy for each segment of the plurality of segments such that the controller clusters each segment into one of a plurality of equivalence classes based on their respective controller strategies, each equivalence class corresponding to a controller mode of a plurality of controller modes,
- derives one or more polynomial flow equations representative of physical dynamics of the physical system for each mode, and
- derives one or more guard conditions representative of a boundary that causes a controller mode change for each mode.
5 more elements
A system for optimizing control parameters of a cyber-physical system, comprising:
- a physical system including an actuator and one or more sensors that produces one or more input signals and one or more output signals, a relationship between the one or more input signals and the one or more output signals being representative of physical dynamics of the physical system;
- and
- a controller that generates a hybrid automaton based on continuous variables measured from the one or more sensors of the physical system and computes a next controller output for the actuator of the physical system based on the hybrid automaton,
- wherein to generate the hybrid automaton, the controller:
- identifies a mode transition of the physical system by identifying a sudden change in a derivative of the one or more output signals, wherein a time interval between a mode transition is a segment of a plurality of segments,
- identifies jump conditions and reset conditions relating the one or more output signals to the one or more input signals for each segment of the plurality of segments,
- clusters the plurality of segments into one or more discrete modes according to their respective jump conditions and reset conditions,
- determines one or more polynomial flow equations for each discrete mode, each polynomial flow equation relating the one or more input signals and the one or more output signals and being indicative of dynamics of the physical system, and
- derives one or more guard conditions representative of a boundary that causes a controller mode change for each discrete mode based on the one or more input signals and the one or more output signals,
- wherein the hybrid automaton includes the one or more discrete modes, the one or more polynomial flow equations and the one or more guard conditions.
7 more elements
A method for inferring and fine tuning control parameters of a cyber-physical system, comprising:
- accessing, by a controller, continuous variables defining input and output traces from a cyber-physical control system, the cyber-physical system including a physical system and a control system for controlling the physical system, the physical system including an actuator and one or more sensors;
- and
- learning, by the controller, a hybrid automaton to compute a set of parameters for enhancing control of the physical system, by:
- identifying a set of control modes of the hybrid automaton, by:
- segmenting the input and output traces according to observed sudden changes in differential of controller output, and
- classifying the set of control modes by determining a total number of the set of control modes and clustering the input and output traces as segmented into equivalence classes corresponding to each of the set of control modes,
- deriving, for each of the set of control modes, a flow function that assigns a set of differential equations that relates the continuous variables to its derivatives and the controller outputs, and
- computing guard conditions defining transitions between the set of control modes.
5 more elements
Dependencies are inferred from the claim text.