Control theory provides techniques to design controllers, or control functions, for dynamical systems with inputs, so as to grant a particular behaviour of such a system. The inverted pendulum is a classic system in control theory: it is used as a benchmark for nonlinear control techniques and is a model for several other systems with various applications. We formalized in the Coq proof assistant the proof of soundness of a control function for the inverted pendulum. This is a first step towards the formal verification of more complex systems for which safety may be critical.
This formalization was later used by Rouhling to formalize the correctness of a controller for the inverted pendulum REF .
A formal proof in Coq of a control function for the inverted pendulum
CPP 2018
Computer Science