Robust Asymptotic Stabilization of Hybrid Systems using Control Lyapunov Functions

Abstract

We propose tools for the study of robust stabilizability and the design of robustly stabilizing feedback laws for a wide class of hybrid systems given in terms of hybrid inclusions with inputs and disturbances. We introduce notions of robust uniform global stabilizability and stabilization that capture the case when disturbances can be fully rejected, practically rejected, and when they induce a residual set that can be stabilized. Robust control Lyapunov functions are em- ployed to determine when stabilizing static state-feedback laws are available and also to synthesize robustly stabilizing feedback laws with minimum pointwise norm. Sufficient conditions on the data of the hybrid system as well as on the control Lyapunov function are proposed for the said properties to hold. An example illustrates the results throughout the paper.