3. Numerical example: controlling a mobile robot
In this section, we present an illustration of the symbolic approach to controller synthesis, using an example inspired by a mobile robotics problem. Matlab scripts for reproducing the example are available on the :
https://gitlab-research.centralesupelec.fr/antoine.girard/tutorial-example-on-symbolic-control
calculation times shown are obtained on a laptop (software: Matlab_R2019b; processor: 2.8 GHz Intel Core i7 quad-core; memory: 16 GB 2133 MHz LPDDR3).
3.1 Model and specification
Let's consider a robot moving in a plane, like a unicycle,...
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