A Small-Gain Approach to Incremental Input-to-State Stability Analysis of Hybrid Integrator-Gain Systems

Abstract

Incremental input-to-state stability plays an important role in the analysis of nonlinear systems, as it opens up the possibility for accurate performance characterizations beyond classical approaches. In this paper, we are interested in deriving conditions for incremental stability of a specific class of discontinuous dynamical systems containing a so-called hybrid integrator. Recently, it was shown that hybrid integrators have the potential for overcoming fundamental performance limitations of linear time-invariant control, thereby making them interesting for use in, e.g., high-precision motion control applications. The main contribution of this paper is to show that these hybrid integrators have incremental input-to-state stability properties, and that, under an incremental small-gain condition, the feedback interconnection of a hybrid integrator and a linear time-invariant plant is incrementally input-to-state stable.