Robust stability and control for systems that combine continuous-time and discrete-time dynamics. This article is a tutorial on modeling the dynamics of hybrid systems, on the elements of stability theory for hybrid systems, and on the basics of hybrid control. The presentation and selection of material is oriented toward the analysis of asymptotic stability in hybrid systems and the design of stabilizing hybrid controllers. Our emphasis on the robustness of asymptotic stability to data perturbation, external disturbances, and measurement error distinguishes the approach taken here from other approaches to hybrid systems. While we make some connections to alternative approaches, this article does not aspire to be a survey of the hybrid system literature, which is vast and multifaceted.

Hybrid dynamical systems

https://www.eng.yale.edu/controls/2002/between.automatica.pdf

Switching between stabilizing controllers

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac2002/data/content/01486/1486.pdf

Fundamental properties of reset control systems

http://robot2.disp.uniroma2.it/~zack/ftp/conferma/NesicAuto08.pdf

Brief paper: Stability properties of reset systems

The purpose of this paper is twofold: 1) to give conditions under which linear feedback control of a plant containing integrator must overshoot; and 2) to give an example of reset control that does not overshoot under such constraints.

Plant with integrator: an example of reset control overcoming limitations of linear feedback

A method of tuning a seek operation of a disk drive is disclosed, the disk drive comprising a disk, an actuator arm, a head coupled to a distal end of the actuator arm, a voice coil motor (VCM) for rotating the actuator arm about a pivot, and a closed loop servo system for generating a VCM control signal applied to the VCM. A function h is applied to the closed loop servo system and a corresponding output g of the closed loop servo system is measured. A reference signal is generated in response to a summation of a plurality of the function h, wherein each of the plurality of the function h is shifted by an offset and scaled by a coefficient, and the coefficients are generated in response to the measured output g.

Disk drive employing data-based basis function expansion for tuning seek servo loop

A disk drive is disclosed comprising a disk, a head, and an actuator for actuating the head over the disk. The disk drive further comprises a state variable memory for storing a plurality of state variable sets, wherein each state variable set comprises a plurality of state variables and each state variable set corresponds to a task object. A coefficient memory for stores a plurality of coefficient sets, wherein each coefficient set comprises a plurality of coefficients and each coefficient set corresponds to a task object. A task object is executed by initializing a base state register to address a selected one of the state variable sets in the state variable memory, and initializing a base coefficient register to address a selected one of the coefficient sets in the coefficient memory.

Orhan Beker

Papers

Fundamental properties of reset control systems

Plant with integrator: an example of reset control overcoming limitations of linear feedback

Fundamental properties of reset control systems

Disk drive employing data-based basis function expansion for tuning seek servo loop

Disk drive comprising a servo accelerator implementing state space equations for a plurality of task objects