An Invariant Based Approach to the Design of Hybrid Control Systems
J.A. Stiver, X.D. Koutsoukos, and P.J. Antsaklis
International Journal of Robust and Nonlinear Control,
11(5), 453-478, 2001.
Abstract -- In this paper, a methodology for hybrid control design
The hybrid systems of interest are characterized by a feedback
architecture of a continuous nonlinear plant with a discrete-event
controller. The natural invariants of
the continuous dynamics are used to partition the state space
into regions and to synthesize simple and efficient control
laws. The paper contains a complete description of the approach
including a description of the hybrid control system modeling,
of the invariant based approach for the design of the partition,
and of the controller synthesis methodology illustrated by examples.
The implementation and optimization of the approach are also discussed.
The approach presented in this paper not only describes a viable
methodology to hybrid design, but also addresses fundamental
issues in hybrid system theory that arise in reachability analysis
and verification approaches that are based on partitions of the
continuous state space.