Controller verification meets controller code: a case study

Cyber-physical systems are notoriously hard to verify due to the complex interaction between continuous physical behavior and discrete control. A widespread and important class is formed by digital controllers that operate on fixed control cycles to interact with the physical environment they are embedded in. This paper presents a case study for integrating such controllers into a rigorous verification method for cyber-physical systems, using flowpipe-based verification methods to verify legally binding requirements for electrified vehicles to a custom bike design. The controller is integrated in the underlying model in a way that correctly represents the input discretization performed by any digital controller.