Eike Möhlmann and Willem Hagemann and Astrid Rakow
ARCH16. 3rd International Workshop on Applied Verification for Continuous and Hybrid Systems
We describe practical experiences on verifying a steering controller specification. The hybrid automaton implements a PI control rule and considers the vehicle's velocity as input from the environment. By combining the tools Stabhyli and SoapBox, we establish several safety and liveness properties for the steering controller, including convergence towards an equilibrium.