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Metrization and simulation of controlled hybrid systems

In: IEEE Transactions on Automatic Control, 60(9):2307–2320, September 2015; DOI: 10.1109/TAC.2015.2404231

Authors: Samuel Burden, Humberto Gonzalez, Ramanarayan Vasudevan, Ruzena Bajcsy, S. Shankar Sastry

The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics. Metrization and simulation of controlled hybrid systems is considered here in a unified framework by constructing a state space metric. The metric is applied to develop a numerical simulation algorithm that converges uniformly, with a known rate of convergence, to orbitally stable executions of controlled hybrid systems, up to and including Zeno events. Benchmark hybrid phenomena illustrate the utility of the proposed tools.

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