Programme: Automation & Robotics

Module: Systems
Lecture: Discrete and Hybrid Systems
Abbreviation: DHS
Semester: 2nd
Responsibility: Dr. Olaf Stursberg
Lecturer: Dr. Olaf Stursberg
Language: English
Allocation to Programme: Automation & Robotics, Field of study: all, 2. Semester.
Curriculum:
Lecture: 2 SWS, 20 students. The course will be held as a seminar, i.e.,
the students are expected to read one or two research papers on one of
Type/SWS:
the topics listed above, to give a presentation in class and write a report
on the topic, and to attend regularly.
Workload: 90 h, presence: 30 h, self study: 60 h
Credit Points: 3
Participants should have a basic knowledge of mathematical modeling,
dynamic systems, and fundamental system properties like stability.
Requirements:
Furthermore, a basic understanding of control concepts is helpful but
not mandatory.
Many controlled systems combine continuous dynamics with logical
(discrete) decisions or actions. Depending on the chosen level of
abstraction, discrete event or hybrid dynamic systems can be suitable for
modeling. The course introduces into the fundamentals of discrete and
Goals:
hybrid models using examples from robotics as well as the processing
industries. Furthermore, the course makes the participants familiar with
various techniques developed for analysis and synthesis of discrete and
hybrid models.
1. Discrete event and hybrid models
Finite-state and timed automata, statecharts, Petri nets including
timed and hybrid extensions, hybrid automata
2. Analysis of discrete, timed, and hybrid models
Simulation of hybrid systems, model checking of finite-state and
Content: timed automata, stability analysis for hybrid systems, verification of
hybrid automata
3. Control and optimization of discrete and hybrid systems
Supervisory control theory for discrete models, scheduling of timed
systems, synthesis of discrete controllers for hybrid automata,
optimization and optimal control of hybrid systems
The grade is based on the presentation, the report and the final exam.
Prerequisites:
The final exam will be an oral (20 minutes) exam.
Media: Beamer presentation, slides + blackboard
Literature: Publications on the various topics.