Secondary Safety Control for Systems with Sector Bounded Nonlinearities [Extended Version]

Abstract

We consider the problem of safety verification and safety-aware controller synthesis for systems with sector bounded nonlinearities. We aim to keep the states of the system within a given safe set under potential actuator and sensor attacks. Specifically, we adopt the setup that a controller has already been designed to stabilize the plant. Using invariant sets and barrier certificate theory, we first give sufficient conditions to verify the safety of the closed-loop system under attacks. Furthermore, by using a subset of sensors that are assumed to be free of attacks, we provide a synthesis method for a secondary controller that enhances the safety of the system. The sufficient conditions to verify safety are derived using Lyapunov-based tools and the S-procedure. Using the projection lemma, the conditions are then formulated as linear matrix inequality (LMI) problems which can be solved efficiently. Lastly, our theoretical results are illustrated through numerical simulations.

Tasks

Reproductions