An implementation for hybrid continuous variable/discrete event dynamic systems

Implementation techniques for hybrid control systems are considered. The term `hybrid´ is used to refer to a system that combines continuous variable dynamic sysem and discrete event dynamic system models, which is a broader problem than discrete-time fixed rate sampling. Several mechanisms for implementing hybrid systems are discussed. Switches allows efficient, limited control law changes in response to events. Scheduling modes provide more expensive but more flexible control law and implementation changes in response to events. Either type of change can be triggered by either external (hardware interrupt) or internal (software-raised) events. The authors discuss support for fixed rate control processes, hard deadline aperiodic processes, and queueing processes for exchanging data and sharing resources within the same hybrid adaptive guidance, navigation and control system