UC Santa Cruz

We propose a computationally tractable implementation of state-feedback laws for hybrid systems given by differential equations capturing the continuous dynamics or flows, and by difference equations capturing the discrete dynamics or jumps. By exploiting the availability of a control Lyapunov function, along with other properties of the system, we show that pointwise minimum norm control laws can be implemented in a sample-and-hold fashion, with events triggered by timers, to render a desired compact set semiglobally and practically asymptotically stable. Examples illustrate the results.