The use of a formal simulator to verify a simple real time control program

Abstract
We present an initial and elementary investigation of the formal specification and mechanical verification of programs that interact with environments. We describe a formal, mechanically produced proof that a simple, real time control program keeps a vehicle on a straightline course in a variable crosswind. To formalize the specification we define a mathematical function which models the interaction of the program and its environment. We then state and prove two theorems about this function: the simulated vehicle never gets farther than three units away from the intended course and homes to the course if the wind ever remains steady for at least four sampling intervals.
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