Tracking control of the continuous and discrete hybrid systems

It is known that the motor control system of a human is a natural hybrid system. A human uses his predictive function based on an internal model together with feedback junction for motion tracking, which is considered as a motor control model of a cerebellum. However, in control engineering field, the understanding of hybrid systems control is rather limited at present. The system theoretic studies such as analysis of controllability and trackability are very few in literature. In this study, we consider the tracking control problem of hybrid plants represented by MLD model to follow a family of reference signals produced by an external generator. New algorithms are presented. The internal model principle of continuous system is extended to hybrid systems so as to solve the problem.