Uniting two output-feedback controllers with different objectives

The problem of robustly, globally stabilizing a point (or set) with two nonlinear output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., both closed-loop systems may have different attractors. We provide a control algorithm that combines the two hybrid controllers to accomplish the task. It consists of a hybrid supervisor that, based on the values of plant´s outputs and state estimates, selects the hybrid controller that should be applied to the plant. The accomplishment of the stabilization task relies on an output-to-state stability property induced by the controllers, which enables us to construct an estimator for the norm of the plant´s state.