Mario Sassano

Giovanni de Carolis, Sergio Galeani, Mario Sassano

This paper solves the robust hybrid output regulation problem for arbitrary uncertain hybrid MIMO linear systems with periodic jumps without the restrictive assumptions used in all previous works on the subject. A necessary condition for solving the problem is that the regulator must incorporate an internal model of the flow zero-dynamics, which is typically affected by uncertainties and then unknown. Hence, the proposed regulator consists of three units: a data-driven estimator of the dynamics that are invisible from the regulated output during flows, a flow internal model in charge of achieving regulation during flows, and a jump internal model in charge of imposing a suitable reset of the state at each jump.

Mario Sassano, Luca Zaccarian

In this short note we prove a hierarchical stability result that applies to hybrid dynamical systems satisfying the hybrid basic conditions of (Goebel et al., 2012). In particular, we establish sufficient conditions for uniform asymptotic stability of a compact set based on some hierarchical stability assumptions involving two nested closed sets containing such a compact set. Moreover, mimicking the well known result for cascaded systems, we prove that the basin of attraction of such compact set coincides with the largest set from which all solutions are bounded. The result appears to be useful when applied to several recent works involving hierarchical control architectures.