Supervisory control of a class of hybrid dynamic systems

This paper presents a framework for modeling and synthesis of a class of hybrid dynamic systems. The architecture includes a hybrid plant model, a hybrid controller, a pattern recognizer and a supervisor. The architecture is divided into two layers. The lower layer is a hybrid dynamic system. At the upper layer, the supervisor issues and receives symbolic commands through a pattern recognizer. The supervisor views the lower layer as a forcible discrete event system, which is implemented by modifying the framework of Ramadge-Wonham. The pattern recognizer interprets the output of the plant as an event of the discrete event system. The task of the supervisor is to make decisions on what kind of actions to be taken. The concepts of controllability and observability of a hybrid dynamic system are introduced, which guarantee the existence problems of a hybrid controller and a supervisor