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Lecture Notes in Computer Science
Siu et al. propose stream CSPs (St-CSPs) as a generalisation of finite domain CSPs to cater for constraints on infinite streams, and a solving algorithm that produces a deterministic Büchi automaton recognising the solution language. As a novel application, we demonstrate how St-CSPs can model mathematically and generate a PID controller for driving a self-balancing tray and an inverted pendulum in real-time. We propose and prove the correctness of an improvement to the implementation thatdoi:10.1007/978-3-319-10428-7_34 fatcat:5pskkqrs65dsrarnbbs6ojjfy4