  This paper proposes a method to synthesise controllers for cyber-physical
systems such that the controlled systems satisfy specifications given as linear
temporal logic formulas. The focus is on systems with disturbance, where future
states cannot be predicted exactly due to uncertainty in the environment. The
approach used to solve this problem is to first construct a finite-state
abstraction of the original system and then synthesise a controller for the
abstract system. For this approach, the robust stutter bisimulation relation is
introduced, which preserves the existence of controllers for any given linear
temporal logic formula. States are related by the robust stutter bisimulation
relation if the same target sets can be guaranteed to be reached or avoided
under control of some controllers, thereby ensuring that disturbances have
similar effect on paths that start in related states. This paper presents an
algorithm to construct the corresponding robust stutter bisimulation quotient
to solve the abstraction problem, and it is shown, by explicit construction,
that there exists a controller enforcing a linear temporal logic formula for
the original system if and only if a corresponding controller exists for the
quotient system. Lastly, the result of the algorithm and the controller
construction are demonstrated by application to an example of robot navigation.
