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Abstract The paper focuses on the problem of formal synthesis of controllers for control‐affine nonlinear systems against complex properties. Our goal is to design a closed‐form control policy that guarantees the satisfaction of complex properties that are expressed using ()‐regular languages and equivalently recognized by nondeterministic Büchi automata (NBA). We propose leveraging a funnel‐based control approach to provide a closed‐form solution to the problem. Our approach decomposes the specification represented by NBA into a sequence of reachability problems, which we solve using a funnel‐based control approach. Controllers associated with each reachability problem are then combined to design a hybrid control policy enforcing the desired ()‐regular property. We demonstrate the effectiveness of the proposed results on room temperature control and mobile robot motion control case studies.
Jagtap et al. (Mon,) studied this question.