Henry Hermes

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A. Invariance principles for hybrid systems with connections to detectability and asymptotic stability. A " throw-and-catch " hybrid control strategy for robust global stabilization of nonlinear systems. A hybrid systems approach to trajectory tracking control for juggling systems.
1.1 Description of the problem When modelling controlled dynamical systems one commonly chooses individual control variables u 1 ,. .. u m which appear natural from a physical, or practical point of view. In the case of nonlinear models evolving on R n (or more generally , an analytic manifold M n) that are affine in the control, such a choice corresponds(More)
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