In this paper, a methodology for hybrid control design is presented. The hybrid systems of interest are characterized by a feedback architecture of a continuous nonlinear plant with a discrete-event controller. The natural invariants of the continuous dynamics are used to partition the state space into regions and to synthesize simple and eÆcient control laws. The paper contains a complete desc...

Simulated Moving Bed (SMB) chromatographic separation processes show typical hybrid phenomena: Discrete state jumps and switching dynamics. The SMB principle and two modelling approaches based on hybrid automaton are presented and discussed within the context of hybrid systems theory. It is shown how these models are affected by open-loop and closed-loop control.

Simulated Moving Bed (SMB) chromatographic separation processes show typical hybrid phenomena: discrete state jumps and switching dynamics. The SMB principle and two modelling approaches based on hybrid automaton are presented and discussed within the context of hybrid systems theory. It is shown, how these models are affected by open-loop and closed-loop control. Copyright ©2002 IFAC

Abstract. We consider a non linear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced by piecewise affine approximations which allow an analytical resolution. The sequence of affine models then forms a sequence of states of a hybrid...

This is an interesting paper on several accounts. The relevance of the subject that seems to become unavoidable in nowadays complex plants requirements, the wide class of hybrid systems under consideration (state jump, unconditional/conditional controlled and autonomous switches, changes in state dimension) and the comprehensive exposition of the necessary conditions derivation. The latter make...

Requirement of handling deformable objects such as leather, paper, and rubber is growing. Since it is very di cult to make a physical model of them, a design of controller to manipulate them becomes one of the signi cant problems in the elds of robotics. On the contrary, if we look at the operation of human worker, the deformable objects seem to be handled naturally and smoothly. This paper pre...

This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...

We define controllability for hybrid systems as the existence of correct control-laws that transfer the hybrid plant between pre-defined subsets of the hybrid state-space. A methodology for analyzing controllability and synthesizing control-laws for a class of hybrid systems, applicable expecially in batch control, is proposed. We use a framework consisting of a hybrid plant and a hybrid contro...