Formal controller synthesis via genetic programming

C. F. Verdier, M. Mazo

Research output: Contribution to journalConference articleScientificpeer-review

11 Citations (Scopus)
53 Downloads (Pure)


This paper presents an automatic controller synthesis method for nonlinear systems with reachability and safety specifications. The proposed method consists of genetic programming in combination with an SMT solver, which are used to synthesize both a control Lyapunov function and the modes of a switched state feedback controller. The resulting controller consists of a set of analytic expressions and a switching law based on the control Lyapunov function, which together guarantee the imposed specifications. The effectiveness of the proposed approach is shown on a 2D pendulum.

Original languageEnglish
Pages (from-to)7205-7210
Issue number1
Publication statusPublished - 2017


  • Formal methods
  • Genetic programming
  • Lyapunov methods


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