A Control Framework for Robust Practical Tracking of Hybrid Automata

This work proposes a robust control framework to address the problem of practical tracking for a class of nonlinear systems which can be described as hybrid automata. The framework reposes on a suitable definition of reference trajectories and desired Input-to-State Stability properties of the control law, which guarantee the desired behavior of the hybrid automata in terms of robust transition between operative modes or robust permanence in a specific operative mode. The robustness features of the proposed approach regard possible uncertainties both on the controlled dynamics and on the underlying hybrid automaton