Formal SynthesisSo far, we have presented and discussed basic results for the modeling, verification, stability, and optimal control of hybrid systems. These results have been introduced by both the computer science and control engineering communities. The computer science community has been primarily interested in verifying the correctness of embedded codes in the face of real-time constraints and interactions with the physical world; while the control engineering community has been mainly focusing on the effects of discontinuities (such as switching of dynamics and jumping of states) caused by the use of digital processors and communication networks that are increasingly becoming ubiquitous.The past decade has witnessed efforts to merge these two schools of thought, and a noticeable trend in the recent hybrid system literature is the emphasis on the synthesis of hybrid controllers for continuous or hybrid dynamical systems to satisfy complicated temporal logic specifications. This approach is known as symbolic control or hybrid supervisory control. The basic idea is first to obtain equivalent or approximating finite abstractions of the hybrid or continuous systems to be controlled. Then the design is carried out in the discrete domain using model checking [1], game-theoretic approaches [2], or discrete event supervisory control theory [3]. The final step is to convert the designed discrete supervisor back to a hybrid controller (since the controller usually contains both discrete transitions and continuous flows) so that it can be used to control the original hybrid or continuous system. The effectiveness of the abstraction-based method depends on whether or not there exists a finite state discrete abstracted model for the original hybrid or continuous system. Significant research efforts have been devoted to developing abstraction methods based on reachability analysis; see, e.g., [4,5]. However, the number of abstracted states could grow exponentially with respect to the dimension of the physical dynamics. We, therefore, introduce symbolic approaches to formal synthesis as well, which can be seen as extensions of symbolic model checking methods to the formal synthesis problems. Symbolic approaches have shown great promise in tackling the state explosion problem.