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—A novel multivariable laboratory process that consists of four interconnected water tanks is presented. The linearized dynamics of the system have a multivariable zero that is possible to move along the real axis by changing a valve. The zero can be placed in both the left and the right half-plane. In this way the quadruple-tank process is ideal for(More)
—Hybrid automata provide a language for modeling and analyzing digital and analogue computations in real-time systems. Hybrid automata are studied here from a dynamical systems perspective. Necessary and sufficient conditions for existence and uniqueness of solutions are derived and a class of hybrid automata whose solutions depend continuously on the(More)
—A generalized analysis of the IEEE 802.15.4 medium access control (MAC) protocol in terms of reliability, delay and energy consumption is presented. The IEEE 802.15.4 exponential backoff process is modeled through a Markov chain taking into account retry limits, acknowledgements, and unsaturated traffic. Simple and effective approximations of the(More)
Fundamental properties of hybrid automata, such as existence and uniqueness of executions, are studied. Particular attention is devoted to Zeno hybrid automata, which are hybrid automata that take inÿnitely many discrete transitions in ÿnite time. It is shown that regularization techniques can be used to extend the Zeno executions of these automata to times(More)
The IEEE 802.15.4 standard for wireless sensor networks can support energy efficient, reliable, and timely packet transmission by tuning the medium access control parameters <i>macMinBE, macMax-CSMABackoffs</i>, and <i>macMaxFrameRetries</i>. Such a tuning is difficult, because simple and accurate models of the influence of these parameters on the(More)
We propose a framework for a geometric theory of hybrid systems. Given a deterministic, non-blocking hybrid system, we introduce the notion of its hybrifold with the associated hybrid flow on it. This enables us to study hybrid systems from a global geometric perspective as (generally non-smooth) dynamical systems. This point of view is adopted in studying(More)
The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the(More)
— In this paper, we analyze the cyber security of state estimators in Supervisory Control and Data Acquisition (SCADA) systems operating in power grids. Safe and reliable operation of these critical infrastructure systems is a major concern in our society. In current state estimation algorithms there are bad data detection (BDD) schemes to detect random(More)