Literature

The discipline of hybrid system is huge and spans several areas of science and engineering. As a result, finding a single comprehensive reference is difficult if not impossible. The more so that our selection of topics is inevitably biased. Admittedly, our selections of both topics and references will mostly be biased towards control engineering, and yet even within that discipline we have our own preferences. Therefore, we will always provide a list of references when studying particular topics.

Introductory/overview texts freely available online

Among the texts that provide motivation for studying hybrid systems as well as some introduction into theoretical and computational frameworks, we recommend Heemels et al. (2009), which is also available on the author’s webpage. Yet another overview, which is also available online, is Johansson (2004). And yet another is De Schutter et al. (2009), which is available on the author’s web page. The quartet of recommended online resources is concluded by Lygeros (2004).

Books not freely available online (at least not that we know of)

Among the high-quality printed books, for which we are not aware of legally available online versions, the slim book van der Schaft and Schumacher (2000) can be regarded as the classic.

The handbook Lunze and Lamnabhi-Lagarrigue (2009) contains a wealth of contributions from several authors (in fact two of the online resources linked above are chapters from this book).

The latest textbook on the topic of hybrid systems is Lin and Antsaklis (2022). The book was probably the prime candidate for the book for this course, however we wanted a slightly different emphasis on each topic.

Another relatively recent book is Sanfelice (2021). Although it is very well written and is certainly recommendable, it follows a particular framework that is not the most common one in the literature on hybrid systems – the framework of hybrid equations. But we are certainly going to introduce their approach in our course. The more so that it is supported by a freely available Matlab toolbox.

The book Goebel, Sanfelice, and Teel (2012) can be regarded as a predecessor and/or complement of the just mentioned Sanfelice (2021). Although the book is not available online, a short version appears as an article Goebel, Sanfelice, and Teel (2009) in the popular IEEE Control Systems magazine (the one with color figures :-).

Last but not least, MPC methodology is specialized to hybrid systems in Borrelli, Bemporad, and Morari (2017). Unline the other books in this list, this one is freely available on the authors’ webpage.

This list of study resources on hybrid systems is by no means exhaustive. We will provide more references in the respective chapters.

References

Borrelli, Francesco, Alberto Bemporad, and Manfred Morari. 2017. Predictive Control for Linear and Hybrid Systems. Cambridge, New York: Cambridge University Press. http://cse.lab.imtlucca.it/~bemporad/publications/papers/BBMbook.pdf.

De Schutter, B., W. P. M. H. Heemels, J. Lunze, and C. Prieur. 2009. “Survey of Modeling, Analysis, and Control of Hybrid Systems.” In Handbook of Hybrid Systems Control: Theory, Tools, Applications, edited by Françoise Lamnabhi-Lagarrigue and Jan Lunze, 31–56. Cambridge: Cambridge University Press. https://doi.org/10.1017/CBO9780511807930.003.

Goebel, Rafal, Ricardo G. Sanfelice, and Andrew R. Teel. 2009. “Hybrid Dynamical Systems.” IEEE Control Systems Magazine 29 (2): 28–93. https://doi.org/10.1109/MCS.2008.931718.

———. 2012. Hybrid Dynamical Systems: Modeling, Stability, and Robustness. Princeton University Press. https://press.princeton.edu/books/hardcover/9780691153896/hybrid-dynamical-systems.

Heemels, W. P. M. H., D. Lehmann, J. Lunze, and B. De Schutter. 2009. “Introduction to Hybrid Systems.” In Handbook of Hybrid Systems Control: Theory, Tools, Applications, edited by Jan Lunze and Françoise Lamnabhi-Lagarrigue, 3–30. Cambridge University Press. https://doi.org/10.1017/CBO9780511807930.002.

Johansson, Karl Henrik. 2004. “Hybrid Control Systems.” In UNESCO Encyclopedia of Life Support Systems (EOLSS). UNESCO. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-90411.

Lin, Hai, and Panos J. Antsaklis. 2022. Hybrid Dynamical Systems: Fundamentals and Methods. Advanced Textbooks in Control and Signal Processing. Cham: Springer. https://doi.org/10.1007/978-3-030-78731-8.

Lunze, Jan, and Françoise Lamnabhi-Lagarrigue, eds. 2009. Handbook of Hybrid Systems Control: Theory, Tools, Applications. 1 edition. Cambridge, UK ; New York: Cambridge University Press.

Lygeros, John. 2004. Lecture Notes on Hybrid Systems. https://people.eecs.berkeley.edu/~sastry/ee291e/lygeros.pdf.

Sanfelice, Ricardo G. 2021. Hybrid Feedback Control. Princeton University Press. https://press.princeton.edu/books/hardcover/9780691180229/hybrid-feedback-control.

van der Schaft, Arjan J., and Hans Schumacher. 2000. An Introduction to Hybrid Dynamical Systems. Lecture Notes in Control and Information Sciences 251. London: Springer-Verlag. https://doi.org/10.1007/BFb0109998.