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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 . https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335

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Abstract

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
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http://dx.doi.org/10.1109/ACC.2009.5159852 DOIArticle
Additional Information:© 2009 AACC.
Record Number:CaltechAUTHORS:20100507-093509335
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20100507-093509335
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:18180
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 May 2010 04:22
Last Modified:03 Oct 2019 01:39

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