We propose a methodology for the automatic verification of safety properties of controllers based on dynamical systems, such as those typically used in avionics. In particular, our focus is on proving stability properties of software implementing linear and some non-linear controllers. We develop an abstract interpretation framework that follows closely the Lyapunov methods used in proofs at the model level and describe the corresponding abstract domains, which for linear systems consist of ellipsoidal constraints. These ellipsoidal domains provide abstractions for the values of state variables and must be combined with other domains that model the remaining variables in a program. Thus, the problem of automatically assigning the right type of abstract domain to each variable arises. We provide an algorithm that solves this classification problem in many practical cases and suggest how it could be generalized to more complicated cases. We then find a fixpoint by solving a matrix equation, which in the linear case is just the discrete Lyapunov equation. Contrary to most cases in software analysis, this fixpoint cannot be reached by the usual iterative method of propagating constraints until saturation and so numerical methods become essential. Finally, we illustrate our methodology with several examples.
A different route was followed by @cite_4 with the design and implementation of the heavy-duty ASTREE static analyzer based on abstract interpretation @cite_21 . The novelty of the ASTREE analyzer is the combination of multiple abstract domains @cite_13 , such as rectangular, polyhedral, octagonal and an ad-hoc 2-dimensional version of an ellipsoidal domain, and its application to large programs.
@cite_13 @cite_21 @cite_4
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We describe the structure of the abstract domains in the ASTREE static analyzer, their modular organization into a hierarchical network, their cooperation to over-approximate the conjunction reduced product of different abstractions and to ensure termination using collaborative widenings and narrowings. This separation of the abstraction into a combination of cooperative abstract domains makes ASTREE extensible, an essential feature to cope with false alarms and ultimately provide sound formal verification of the absence of runtime errors in very large software. A program denotes computations in some universe of objects. Abstract interpretation of programs consists in using that denotation to describe computations in another universe of abstract objects, so that the results of abstract execution give some information on the actual computations. An intuitive example (which we borrow from Sintzoff [72]) is the rule of signs. The text -1515 * 17 may be understood to denote computations on the abstract universe (+), (-), (±) where the semantics of arithmetic operators is defined by the rule of signs. The abstract execution -1515 * 17 → -(+) * (+) → (-) * (+) → (-), proves that -1515 * 17 is a negative number. Abstract interpretation is concerned by a particular underlying structure of the usual universe of computations (the sign, in our example). It gives a summary of some facets of the actual executions of a program. In general this summary is simple to obtain but inaccurate (e.g. -1515 + 17 → -(+) + (+) → (-) + (+) → (±)). Despite its fundamentally incomplete results abstract interpretation allows the programmer or the compiler to answer questions which do not need full knowledge of program executions or which tolerate an imprecise answer, (e.g. partial correctness proofs of programs ignoring the termination problems, type checking, program optimizations which are not carried in the absence of certainty about their feasibility, …). We show that abstract interpretation-based static program analysis can be made efficient and precise enough to formally verify a class of properties for a family of large programs with few or no false alarms. This is achieved by refinement of a general purpose static analyzer and later adaptation to particular programs of the family by the end-user through parametrization. This is applied to the proof of soundness of data manipulation operations at the machine level for periodic synchronous safety critical embedded software.The main novelties are the design principle of static analyzers by refinement and adaptation through parametrization (Sect. 3 and 7), the symbolic manipulation of expressions to improve the precision of abstract transfer functions (Sect. 6.3), the octagon (Sect. 6.2.2), ellipsoid (Sect. 6.2.3), and decision tree (Sect. 6.2.4) abstract domains, all with sound handling of rounding errors in oating point computations, widening strategies (with thresholds: Sect. 7.1.2, delayed: Sect. 7.1.3) and the automatic determination of the parameters (parametrized packing: Sect. 7.2).