Control synthesis from temporal logic specifications has gained popularity in
recent years. In this paper, we use a model predictive approach to control
discrete time linear systems with additive bounded disturbances subject to
constraints given as formulas of signal temporal logic (STL). We introduce a
(conservative) computationally efficient framework to synthesize control
strategies based on mixed integer programs. The designed controllers satisfy
the temporal logic requirements, are robust to all possible realizations of the
disturbances, and optimal with respect to a cost function. In case the temporal
logic constraint is infeasible, the controller satisfies a relaxed, minimally
violating constraint. An illustrative case study is included.Comment: This work has been accepted to appear in the proceedings of 53rd
Annual Allerton Conference on Communication, Control and Computing,
Urbana-Champaign, IL (2015
