Lyapunov-based hybrid loops for stability and performance of continuous-time control systems

We construct hybrid loops that augment continuous-time control systems. We consider a continuous-time nonlinear plant in feedback with a (possibly non stabilizing) given nonlinear dynamic continuous-time state feedback controller. The arising hybrid closed loops are guaranteed to follow the underlying continuous-time closed-loop dynamics when flowing and to jump in suitable regions of the closed-loop state space to guarantee that a positive definite function VV of the closed-loop state and/or a positive definite function VpVp of the plant-only state is non-increasing along the hybrid trajectories. Sufficient conditions for the construction of these hybrid loops are given for the nonlinear case and then specialized for the linear case with the use of quadratic functions. For the linear case we illustrate specific choices of the functions VV and VpVp which allow for the reduction of the overshoot of a scalar output. The proposed approaches are illustrated on linear and nonlinear examples.