In this paper, we consider the problem of steering complex dynamical systems among equilibria in their state space in efficient ways. Efficiency is considered as the possibility of compactly representing the (typically very large, or infinite) set of reachable equilibria and quickly computing plans to move among them. To this purpose, we consider the possibility of building lattice structures by purposefully introducing quantization of inputs. We consider different ways in which control actions can be encoded in a finite or numerable set of symbols, review different applications where symbolic encoding of control actions can be employed with success, and provide a unified framework in which to study the many different possible manifestations of the idea.

10aEmbedded Control10aRobotics1 aBicchi, A.1 aMarigo, A1 aPiccoli, B uhttp://www.centropiaggio.unipi.it/publications/encoding-steering-control-symbols.html