ESAIM: COCV
DOI: 10.1051/cocv:2008023

Direct design of robustly asymptotically stabilizing hybrid feedback

Rafal Goebel¹ and Andrew R. Teel<sup>2

1</sup>  Research carried out at the Center for Control, Dynamical Systems, and Computation; Department of Electrical and Computer Engineering; University of California, Santa Barbara. Current address: 3518 NE 42 St., Seattle, WA 98105, USA; rafal.k.goebel@gmail.com.
²  Center for Control, Dynamical Systems, and Computation; Department of Electrical and Computer Engineering; University of California, Santa Barbara, CA 93106-9560, USA; teel@ece.ucsb.edu.

(Received April 24, 2007. Published online March 6, 2008.)

Abstract
A direct construction of a stabilizing hybrid feedback that is robust to general measurement error is given for a general nonlinear control system that is asymptotically controllable to a compact set.

Mathematics Subject Classification. 93D15, 49J53, 93B35

Key words: Hybrid feedback, nonlinear control system, patchy feedback, robustness, asymptotic stability


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