PALS-Based Analysis of an Airplane Multirate Control System in Real-Time Maude

Distributed cyber-physical systems (DCPS) are pervasive in areas such as aeronautics and ground transportation systems, including the case of distributed hybrid systems. DCPS design and verification is quite challenging because of asynchronous communication, network delays, and clock skews. Furthermore, their model checking verification typically becomes unfeasible due to the huge state space explosion caused by the system's concurrency. The PALS ("physically asynchronous, logically synchronous") methodology has been proposed to reduce the design and verification of a DCPS to the much simpler task of designing and verifying its underlying synchronous version. The original PALS methodology assumes a single logical period, but Multirate PALS extends it to deal with multirate DCPS in which components may operate with different logical periods. This paper shows how Multirate PALS can be applied to formally verify a nontrivial multirate DCPS. We use Real-Time Maude to formally specify a multirate distributed hybrid system consisting of an airplane maneuvered by a pilot who turns the airplane according to a specified angle through a distributed control system. Our formal analysis revealed that the original design was ineffective in achieving a smooth turning maneuver, and led to a redesign of the system that satisfies the desired correctness properties. This shows that the Multirate PALS methodology is not only effective for formal DCPS verification, but can also be used effectively in the DCPS design process, even before properties are verified.Comment: In Proceedings FTSCS 2012, arXiv:1212.657

Oversampling PCM techniques and optimum noise shapers for quantizing a class of nonbandlimited signals

We consider the efficient quantization of a class of nonbandlimited signals, namely, the class of discrete-time signals that can be recovered from their decimated version. The signals are modeled as the output of a single FIR interpolation filter (single band model) or, more generally, as the sum of the outputs of L FIR interpolation filters (multiband model). These nonbandlimited signals are oversampled, and it is therefore reasonable to expect that we can reap the same benefits of well-known efficient A/D techniques that apply only to bandlimited signals. We first show that we can obtain a great reduction in the quantization noise variance due to the oversampled nature of the signals. We can achieve a substantial decrease in bit rate by appropriately decimating the signals and then quantizing them. To further increase the effective quantizer resolution, noise shaping is introduced by optimizing prefilters and postfilters around the quantizer. We start with a scalar time-invariant quantizer and study two important cases of linear time invariant (LTI) filters, namely, the case where the postfilter is the inverse of the prefilter and the more general case where the postfilter is independent from the prefilter. Closed form expressions for the optimum filters and average minimum mean square error are derived in each case for both the single band and multiband models. The class of noise shaping filters and quantizers is then enlarged to include linear periodically time varying (LPTV)M filters and periodically time-varying quantizers of period M. We study two special cases in great detail

A new class of two-channel biorthogonal filter banks and wavelet bases

We propose a novel framework for a new class of two-channel biorthogonal filter banks. The framework covers two useful subclasses: i) causal stable IIR filter banks. ii) linear phase FIR filter banks. There exists a very efficient structurally perfect reconstruction implementation for such a class. Filter banks of high frequency selectivity can be achieved by using the proposed framework with low complexity. The properties of such a class are discussed in detail. The design of the analysis/synthesis systems reduces to the design of a single transfer function. Very simple design methods are given both for FIR and IIR cases. Zeros of arbitrary multiplicity at aliasing frequency can be easily imposed, for the purpose of generating wavelets with regularity property. In the IIR case, two new classes of IIR maximally flat filters different from Butterworth filters are introduced. The filter coefficients are given in closed form. The wavelet bases corresponding to the biorthogonal systems are generated. the authors also provide a novel mapping of the proposed 1-D framework into 2-D. The mapping preserves the following: i) perfect reconstruction; ii) stability in the IIR case; iii) linear phase in the FIR case; iv) zeros at aliasing frequency; v) frequency characteristic of the filters

The design of optimum filters for quantizing a class of non bandlimited signals

We consider the efficient quantization of a class of non bandlimited signals, namely the class of discrete time signals that can be recovered from their decimated version. By definition, these signals are oversampled and it is reasonable to expect that we can reap the same benefits of well known efficient A/D conversion techniques. Indeed, by using appropriate multirate reconstruction schemes, we first show that we can obtain a great reduction in the quantization noise variance due to the oversampled nature of the signals. To further increase the effective quantizer resolution, noise shaping is introduced by optimizing linear time invariant (LTI) and linear periodically time varying (LPTV)M pre- and post-filters around the quantizer. Closed form expressions for the optimum filters and the minimum mean squared error are derived for each case

Tree-structured complementary filter banks using all-pass sections

Tree-structured complementary filter banks are developed with transfer functions that are simultaneously all-pass complementary and power complementary. Using a formulation based on unitary transforms and all-pass functions, we obtain analysis and synthesis filter banks which are related through a transposition operation, such that the cascade of analysis and synthesis filter banks achieves an all-pass function. The simplest structure is obtained using a Hadamard transform, which is shown to correspond to a binary tree structure. Tree structures can be generated for a variety of other unitary transforms as well. In addition, given a tree-structured filter bank where the number of bands is a power of two, simple methods are developed to generate complementary filter banks with an arbitrary number of channels, which retain the transpose relationship between analysis and synthesis banks, and allow for any combination of bandwidths. The structural properties of the filter banks are illustrated with design examples, and multirate applications are outlined

Discrete multitone modulation with principal component filter banks

Discrete multitone (DMT) modulation is an attractive method for communication over a nonflat channel with possibly colored noise. The uniform discrete Fourier transform (DFT) filter bank and cosine modulated filter bank have in the past been used in this system because of low complexity. We show in this paper that principal component filter banks (PCFB) which are known to be optimal for data compression and denoising applications, are also optimal for a number of criteria in DMT modulation communication. For example, the PCFB of the effective channel noise power spectrum (noise psd weighted by the inverse of the channel gain) is optimal for DMT modulation in the sense of maximizing bit rate for fixed power and error probabilities. We also establish an optimality property of the PCFB when scalar prefilters and postfilters are used around the channel. The difference between the PCFB and a traditional filter bank such as the brickwall filter bank or DFT filter bank is significant for effective power spectra which depart considerably from monotonicity. The twisted pair channel with its bridged taps, next and fext noises, and AM interference, therefore appears to be a good candidate for the application of a PCFB. This is demonstrated with the help of numerical results for the case of the ADSL channel

Dual Rate Control for Security in Cyber-physical Systems

We consider malicious attacks on actuators and sensors of a feedback system which can be modeled as additive, possibly unbounded, disturbances at the digital (cyber) part of the feedback loop. We precisely characterize the role of the unstable poles and zeros of the system in the ability to detect stealthy attacks in the context of the sampled data implementation of the controller in feedback with the continuous (physical) plant. We show that, if there is a single sensor that is guaranteed to be secure and the plant is observable from that sensor, then there exist a class of multirate sampled data controllers that ensure that all attacks remain detectable. These dual rate controllers are sampling the output faster than the zero order hold rate that operates on the control input and as such, they can even provide better nominal performance than single rate, at the price of higher sampling of the continuous output