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arXiv · 2611.04163

Transferring Controller from Math to Real World Systems: A Formal Control Theoretic Approach

P Sangeerth·Bhabani Shankar Dey·Pushpak Jagtap
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Abstract

The letter aims to improve the math-to-real or math-to-sim transfer of a mission controller designed for a Temporal Reach Avoid Stay (T-RAS) specification. Our approach uses the control-theoretic concept of Incremental Input-to-State stability ($δ$-ISS). We model the real-world system as an uncertain system, represented by a nominal mathematical model with an additive disturbance. Our method involves two steps: firstly, we make the nominal mathematical model and the real-world system $δ$-ISS. Secondly, we design a mission controller for the mathematical model that satisfies a modified specification. We then prove that applying the same mission-level input sequence to the real-world system guarantees that the original specification is satisfied in the real world. Videos of real-world experiments are available at https://youtu.be/NvjkIZxtnPM.

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BibTeXRIS

P Sangeerth, Bhabani Shankar Dey, Pushpak Jagtap. 2026-11-03. Transferring Controller from Math to Real World Systems: A Formal Control Theoretic Approach. https://arxiv.org/abs/2611.04163

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