We consider the class of nonlinear systems in normal form with unitary relative degree whose zero and output dynamics are affected by state jumps fulfilling an average dwell-time constraint. Under a minimum-phase assumption requiring the existence of a compact set which is globally pre-asymptotically stable for the hybrid zero dynamics, we show how to design continuous, global state- and semiglobal output-feedback control laws. The proposed design methodology extends to the considered class of hybrid systems well-known design techniques for robustly stabilizing the class of continuous-time minimum-phase nonlinear systems having unitary relative degree. Examples are given to show the usefulness of the technical result.

Stabilization for a class of minimum phase hybrid systems under an average dwell-time constraint

MARCONI, LORENZO
2011

Abstract

We consider the class of nonlinear systems in normal form with unitary relative degree whose zero and output dynamics are affected by state jumps fulfilling an average dwell-time constraint. Under a minimum-phase assumption requiring the existence of a compact set which is globally pre-asymptotically stable for the hybrid zero dynamics, we show how to design continuous, global state- and semiglobal output-feedback control laws. The proposed design methodology extends to the considered class of hybrid systems well-known design techniques for robustly stabilizing the class of continuous-time minimum-phase nonlinear systems having unitary relative degree. Examples are given to show the usefulness of the technical result.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/107155
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