A hybrid control system design and implementation

This paper implements a hybrid control method combines with Lyapunov switching strategy for a heating system, which is designed both theoretically and practically. Optimal controllers and Proportional-Integral-Derivative (PID) controllers are combined as hybrid controllers. It can be seen that hybrid controllers have good performance on both system transient and steady-state responses. Optimal controllers give fast set-point change responses, PID controllers provide stable control signals and Lyapunov switching theory ensures system stability. Both theoretical designs and experiments achieve satisfying results although inaccuracies happen during hardware implementations.