Logic-based switching algorithms in control
João P. Hespanha, A. Stephen Morse · 1998
This thesis deals with the use of logic-based switching in the control of imprecisely modeled nonlinear systems. Each control system considered consists of a continuous-time dynamical process to be controlled, a family of candidate controllers, and an event-driven switching logic. The need for switching arises when no single candidate controller is capable, by itself, of guaranteeing good performance when connected with a poorly modeled process. In this thesis we develop provably correct switching strategies capable of determining in real-time which candidate controller should be put in feedback with a process so as to achieve a desired closed-loop performance. The resulting closed-loop systems are hybrid in the sense that in each case, continuous dynamics interact with event-driven logic. In the process of designing these switching algorithms, we develop several tools for the analysis and synthesis o...