Abstract
Control of multi-input multi-output (MIMO) hybrid nonlinear dynamic systems which are affine in control inputs is studied in this paper. It is assumed that each control input of the system can be continuous or discrete with a bound constraint. It is also assumed that the controller is discrete-time and updates the control(s) with a constant frequency. Based on these assumptions, a theorem which represents the necessary and sufficient condition for uniform convergence of the sequence of samples of the state vector of system towards the desired point is presented and proved. As a result of this theorem, a (mixed integer-) linear programming for calculation of control(s) is proposed. Two well-known nonlinear hybrid control problems with multiple inputs are solved by using the proposed method and the results are presented.
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