  Symbolic models have been recently used as a sound mathematical formalism for
the formal verification and control design of purely continuous and hybrid
systems. In this paper we propose a sequence of symbolic models that
approximates a discrete-time Piecewise Affine (PWA) system in the sense of
approximate simulation and converges to the PWA system in the so-called
simulation metric. Symbolic control design is then addressed with
specifications expressed in terms of non-deterministic finite automata. A
sequence of symbolic control strategies is derived which converges, in the
sense of simulation metric, to the maximal controller solving the given
specification on the PWA system.
