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This paper introduces assume/guarantee contracts on continuous-time controlsystems, hereby extending contract theories for discrete systems to certain newmodel classes and specifications. Contracts are regarded as formalcharacterizations of control specifications, providing an alternative tospecifications in terms of dissipativity properties or set-invariance. Theframework has the potential to capture a richer class of specifications moresuitable for complex engineering systems. The proposed contracts are supportedby results that enable the verification of contract implementation and thecomparison of contracts. These results are illustrated by an example of avehicle following system.

Contracts as specifications for dynamical systems in driving variable form