Hybrid control system design using robust linear control agents

Hybrid control systems (HCS) arise when the plant, a continuous state system (CSS), is controlled by a discrete event system (DES) controller. It is assumed that there exists a specification on the plant´s desired symbolic behaviour which describes how various operational modes of the controlled plant should fit together. One design problem involves determining an RCS that “realizes” the specified behaviour in a “stable” manner. The solution to this problem involves finding an “extension” of the existing behavioural specification which is logically stable or safe. This paper proposes a gain-scheduling method which constructs the extension out of linear control agents exhibiting robust stability