On-Line Monitoring for Temporal Logic Robustness
  In this paper, we provide a Dynamic Programming algorithm for on-line monitoring of the state robustness of Metric Temporal Logic specifications with past time operators. We compute the robustness of MTL with unbounded past and bounded future temporal operators MTL over sampled traces of Cyber-Physical Systems. We implemented our tool in Matlab as a Simulink block that can be used in any Simulink model. We experimentally demonstrate that the overhead of the MTL robustness monitoring is acceptable for certain classes of practical specifications. 
Adel Dokhanchi, Bardh Hoxha and Georgios Fainekos
cs.SY