Hybrid Dynamical Systems Modelling Stability and Robustness书.pdf

Hybrid Dynamical Systems This page intentionally left blank Hybrid Dynamical Systems Modeling, Stability, and Robustness Rafal Goebel, Ricardo G. Sanfelice, and Andrew R. Teel PRINCETON UNIVERSITY PRESS PRINCETON AND OXFORD c Copyright 2012 by Princeton University Press PublishedbyPrincetonUniversityPress, 41 WilliamStreet,Princeton,NewJersey 08540 In the United Kingdom: Princeton University Press, 6 Oxford Street, Woodstock, Oxfordshire OX20 1TW All Rights Reserved ISBN: 978-0-691-15389-6 Library of Congress Control Number: 2011941674 British Library Cataloging-in-Publication Data is available A This book has been composed in L T X E The publisher would like to acknowledge the author of this volume for providing the digital files from which this book was printed Printed on acid-free paper ∞ Printed in the United States of America 10 9 8 7 6 5 4 3 2 1 To Ariana, Drew, Ellie, Julek, Melia, and Ola. Without you, this book would have been possible much sooner. This page intentionally left blank Contents Preface ix 1 Introduction 1 1.1 The modeling framework . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Examples in science and engineering . . . . . . . . . . . . . . . . 2 1.3 Control system examples . . . . . . . . . . . . . . . . . . . . . . . 7 1.4 Connections to other modeling frameworks . . . . . . . . . . . . 15 1.5 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 2 The solution c