An additive cost approach to optimal Temporal Logic control

Aydın Göl, Ebru
Belta, Calin
This paper presents a provably-correct Model Predictive Control (MPC) scheme for a discrete-time linear system. The cost is a quadratic that penalizes the distance from desired state and control trajectories, which are only available over a finite horizon. Correctness is specified as a syntactically co-safe Linear Temporal Logic (scLTL) formula over a set of linear predicates in the states of the system. The proposed MPC controller solves a set of convex optimization problems guided by the specification. The objective of each optimization is to minimize the quadratic cost function and a distance to the satisfaction of the specification. The latter part of the objective and the constraints of the problem guarantee that the closed-loop trajectory satisfies the specification, while the former part is used to minimize the distance from the reference trajectories.
Citation Formats
E. Aydın Göl and C. Belta, “An additive cost approach to optimal Temporal Logic control,” 2014, Accessed: 00, 2020. [Online]. Available: