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Formal and practical completion of Lagrangian hybrid systems

Or, Yizhar and Ames, Aaron D. (2009) Formal and practical completion of Lagrangian hybrid systems. In: American Control Conference, 2009. IEEE , Piscataway, NJ, pp. 3624-3631. ISBN 978-1-4244-4523-3.

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This paper presents a method for completing Lagrangian hybrid systems models in a formal manner. That is, given a Lagrangian hybrid system, i.e., a hybrid system that models a mechanical system undergoing impacts, we present a systematic method in which to extend executions of this system past Zeno points by adding an additional domain to the hybrid model. Moreover, by utilizing results that provide sufficient conditions for Zeno behavior and for stability of Zeno equilibria in Lagrangian hybrid systems, we are able to give explicit bounds on the error incurred through the practical simulation of these completed hybrid system models. These ideas are illustrated on a series of examples, and are shown to be consistent with observed reality.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Or, Yizhar0000-0002-9091-9357
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2009 AACC.
Record Number:CaltechAUTHORS:20100507-093509335
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:18180
Deposited By: Tony Diaz
Deposited On:16 May 2010 04:22
Last Modified:08 Nov 2021 23:42

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