Abstract

A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in nonsmooth Euler-Lagrange and lossless impulsive dynamical systems. These dynamic controllers combine a logical switching architecture with hybrid dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to hybrid closed-loop systems described by impulsive differential equations. Special cases of energy-based hybrid controllers involving state-dependent switching are described.

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