Set-Membership Tests to Evaluate the Performance of Nominal Feedback Control Laws

International audienceIn this paper, reachability analysis is used asa verification tool to evaluate the performance of nominalcontrollers. The proposed method allows to check the robustnessof given controllers, designed from nominal models, againstboth nonlinearities and uncertainties of real systems. Thismethod is structured on three levels. In the first one, thedesired control specifications are defined as set-membershipcriteria. Then, in the second level, an outer-approximationof the reachable set of the closed-loop system is computed.Consistency techniques are applied in the third level in orderto check if the desired specifications are satisfied by all thepossible behaviors of the system. To illustrate the interest ofthe proposed approach, a control verification issue of a linearcontroller applied on a simple hydraulic system is tackled