In this paper, we propose a novel framework for the synthesis of robust and optimal energy-aware controllers. The framework is based on energy timed automata, allowing for easy expression of timing constraints and variable energy rates. We prove decidability of the energy-constrained infinite-run problem in settings with both certainty and uncertainty of the energy rates. We also consider the optimization problem of identifying the minimal upper bound that will permit existence of energy-constrained infinite runs. Our algorithms are based on quantifier elimination for linear real arithmetic. Using Mathematica and Mjollnir, we illustrate our framework through a real industrial example of a hydraulic oil pump. Compared with previous approaches our method is completely automated and provides improved results.

中文翻译：

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使用不确定性能量时间自动机的最优鲁棒控制器综合

在本文中，我们提出了一种新的框架，用于合成鲁棒和最优的能量感知控制器。该框架基于能量定时自动机，可以轻松表达时间约束和可变能量率。我们证明了能量受限无限运行问题在能量率的确定性和不确定性的设置中的可判定性。我们还考虑了确定允许存在能量约束无限运行的最小上限的优化问题。我们的算法基于线性实数算术的量词消除。使用 Mathematica 和 Mjollnir，我们通过一个液压油泵的真实工业示例来说明我们的框架。与以前的方法相比，我们的方法是完全自动化的，并提供了改进的结果。