2008 | OriginalPaper | Chapter
Control Design
Authors : Patricia Mellodge, Pushkin Kachroo
Published in: Model Abstraction in Dynamical Systems: Application to Mobile Robot Control
Publisher: Springer Berlin Heidelberg
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This chapter focuses on control design using abstraction. Given a system and its abstraction, as defined in the previous chapter, a method is presented for transforming a controller in the abstracted system back to the original system. Conditions for the existence and uniqueness of transformation are provided and the relationship with traceability is given. Finally, if such a transformation does not exist, the existence of an arbitrarily close solution is investigated and its relationship to
ε
-traceability is studied.