PAHSCTRL is a control synthesis toolbox that I developed during my PhD and employment on the Multi-Form project.

The toolbox enables computation of piecewise-affine control laws for hybrid systems with non-deterministic discrete transitions, i.e. it can be used for fault tolerant control.

The toolbox uses an unconventional technique where the control problem is converted to a timed game, which is solved using UppAal Tiga, and that solution is then converted to a control law on the original hybrid system.