Ricardo G. Sanfelice - Böcker

Hybrid dynamical systems exhibit continuous and instantaneous changes, having features of continuous-time and discrete-time dynamical systems. Filled with a wealth of examples to illustrate concepts, this book presents a complete theory of robust asymptotic stability for hybrid dynamical systems that is applicable to the design of hybrid control algorithms--algorithms that feature logic, timers, or combinations of digital and analog components. With the tools of modern mathematical analysis, Hybrid Dynamical Systems unifies and generalizes earlier developments in continuous-time and discrete-time nonlinear systems. It presents hybrid system versions of the necessary and sufficient Lyapunov conditions for asymptotic stability, invariance principles, and approximation techniques, and examines the robustness of asymptotic stability, motivated by the goal of designing robust hybrid control algorithms. This self-contained and classroom-tested book requires standard background in mathematical analysis and differential equations or nonlinear systems. It will interest graduate students in engineering as well as students and researchers in control, computer science, and mathematics.

A comprehensive introduction to hybrid control systems and designHybrid control systems exhibit both discrete changes, or jumps, and continuous changes, or flow. An example of a hybrid control system is the automatic control of the temperature in a room: the temperature changes continuously, but the control algorithm toggles the heater on or off intermittently, triggering a discrete jump within the algorithm. Hybrid control systems feature widely across disciplines, including biology, computer science, and engineering, and examples range from the control of cellular responses to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid control systems.In Hybrid Feedback Control, Ricardo Sanfelice presents a self-contained introduction to hybrid control systems and develops new tools for their analysis and design. Hybrid behavior can occur in one or more subsystems of a feedback system, and Sanfelice offers a unified control theory framework, filling an important gap in the control theory literature. In addition to the theoretical framework, he includes a plethora of examples and exercises, a Matlab toolbox (as well as two open-source versions), and an insightful overview at the beginning of each chapter.Relevant to dynamical systems theory, applied mathematics, and computer science, Hybrid Feedback Control will be useful to students and researchers working on hybrid systems, cyber-physical systems, control, and automation.

This contributed volume aims to build the foundation of a framework for computationally aware algorithmic design for cyber-physical systems (CPSs), focusing on approaches that take computation into account at the design stage to address their impact on performance and safety.  It demonstrates how novel techniques may emerge from the combination of formal methods, model predictive control, distributed optimization, data-driven methods, reconfigurable/adaptive methods, and information-theoretic techniques.Chapters are written by both researchers and practitioners and cover such topics as analysis and design of uncertain CPSs, cooperative and non-cooperative paradigms for handling complexity in large scale CPSs,task-relevant environment abstractions for autonomous systems based on information theory,information flow in event-based stabilization of CPSs,set-valued model predictive control, andautomated synthesis of certifiable controllers for CPSs.State-of-the-art applications and case studies are provided throughout with a special focus on intelligent transportation systems and autonomous vehicles.Graduate students and researchers with an interest in CPS verification and control will find this volume to be a valuable resource in their work.  It will also appeal to researchers from disciplines other than control, such as computer science, operations research, applied mathematics, and robotics.