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This paper proposes a framework for automatic formal controller synthesis forgeneral hybrid systems with a subset of safety and reachability specifications.The framework uses genetic programming to automatically co-synthesizecontrollers and candidate Lyapunov-like functions. These candidateLyapunov-like functions are used to formally verify the control specification,and their correctness is proven using a Satisfiability Modulo Theories solver.The advantages of this approach are: no restriction is made to polynomialsystems, the synthesized controllers are expressed as compact expressions, andno explicit solution structure has to be specified beforehand. We demonstratethe effectiveness of the proposed framework in several case studies, includingnonpolynomial systems, sampled-data systems, systems with boundeduncertainties, switched systems, and systems with jumps. osed framework inseveral case studies, including nonpolynomial systems, sampled-data systems,systems with bounded uncertainties, switched systems, and systems with jumps.

Formal controller synthesis for hybrid systems using genetic programming