Finite Approximations of Switched Homogeneous Systems for Controller Synthesis

Abstract

We demonstrate the use of a new, control-oriented notion of finite state approximation for a particular class of hybrid systems. Specifically, we consider the problem of designing a stabilizing binary output feedback switching controller for a pair of unstable homogeneous second order systems. The constructive approach presented in this note, in addition to yielding an explicit construction of a deterministic finite state approximate model of the hybrid plant, allows us to efficiently establish a useable upper bound on the quality of approximation, and leads to a discrete optimization problem whose solution immediately provides a certifiably correct-by-design controller for the original system. The resulting controller consists of a finite state observer for the plant and a corresponding full state feedback switching control law.

22 pages, 9 figures. Changes in second version: Title, abstract and introduction changed. References updated. A shorter version of this manuscript has been submitted for journal publication