Hybrid control for stabilization of a class of cascade nonlinear systems

Presents a hybrid feedback control approach for stabilizing a class of cascade nonlinear systems to an equilibrium. The control architecture is a combination of nonlinear analog feedback and switched (sampled data) feedback, that, in a certain sense, feedback linearizes the closed loop at the analog time scale and at the time scale induced by the switching. Conditions for local asymptotic stability and global asymptotic stability of the equilibrium of the closed loop hybrid system are developed. The results are applied to the construction of hybrid controllers that stabilize a class of underactuated mechanical systems and a class of nonlinear nonminimum phase systems. In particular, a hybrid controller is developed and studied for the model of a rotational and translational actuator