Andrew R. Teel

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Robust stability and control for systems that combine continuous-time and discrete-time dynamics. This article is a tutorial on modeling the dynamics of hybrid systems, on the elements of stability theory for hybrid systems, and on the basics of hybrid control. The presentation and selection of material is oriented toward the analysis of asymptotic(More)
We introduce a concept of input-to-output practical stability (IOpS) which is a natural generalization of input-to-state stability proposed by Sontag. It allows us to establish two important results. The first one states that the general interconnection of two IOpS systems is again an IOpS system if an appropriate composition of the gain functions is(More)
Results on input-output L/sub p/ stability of networked control systems (NCS) are presented for a large class of network scheduling protocols. It is shown that static protocols and a recently considered dynamical protocol called try-once-discard belong to this class. Our results provide a unifying framework for generating new scheduling protocols that(More)
Necessary and sufficient conditions for globally stabilizing linear systems with bounded controls are known. However, it has been shown in [5] that, for single-input systems, no saturation of a linear feedback can globally stabilize a chain of integrators of order n, with n > 3. In this paper, we propose a nonlinear combination of saturation functions of(More)
We establish exponential stability of nonlinear time-varying impulsive systems by employing Lyapunov functions with discontinuity at the impulse times. Our stability conditions have the property that when specialized to linear impulsive systems, the stability tests can be formulated as Linear Matrix Inequalities (LMIs). Then we consider LTI uncertain(More)
Given a parameterized (by sampling period T ) family of approximate discrete-time models of a sampled nonlinear plant and given a family of controllers stabilizing the family of plant models for all T sufficiently small, we present conditions which guarantee that the same family of controllers semi-globally-practically stabilizes the exact discrete-time(More)
This paper considers closed-loop quadratic stability and 2 performance properties of linear control systems subject to input saturation. More specifically, these properties are examined within the context of the popular linear antiwindup augmentation paradigm. Linear antiwindup augmentation refers to designing a linear filter to augment a linear control(More)
Motivated by questions in stability theory for hybrid dynamical systems, we establish some fundamental properties of the set of solutions to such systems. Using the notion of a hybrid time domain and general results on set and graphical convergence, we establish under weak regularity and local boundedness assumptions that the set of solutions is(More)
Simple Lyapunov proofs are given for an improved (relative to previous results that have appeared in the literature) bound on the maximum allowable transfer interval to guarantee global asymptotic or exponential stability in networked control systems and also for semiglobal practical asymptotic stability with respect to the length of the maximum allowable(More)