@book {300, title = {Computation-Aware Algorithmic Design for Cyber-Physical Systems}, series = {Systems \& Control: Foundations \& Applications}, year = {2023}, publisher = {Birkhauser}, organization = {Birkhauser}, author = {M. Prandini and R. G. Sanfelice} } @article {310, title = {Adaptive Safety with a RISE-Based Disturbance Observer}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {July}, pages = {4883-4890}, author = {A. Isaly and O. S. Patil and H. Sweatland and R. G. Sanfelice and W. Dixon} } @article {307, title = {Pointwise Exponential Stability of State Consensus with Intermittent Communication}, journal = {IEEE Transactions on Automatic Control}, year = {2024}, month = {April}, pages = {1-16}, author = {S. Phillips and R. G. Sanfelice} } @article {299, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a {R}iemannian Metric {(Part III)}}, journal = {IEEE Transactions on Automatic Control}, volume = {69}, year = {2024}, month = {March}, pages = {1432-1447}, author = {R. G. Sanfelice and L. Praly} } @article {270, title = {Robust Output Feedback Control Design in the Presence of Sporadic Measurements}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {6}, year = {2023}, month = {June}, pages = {3768-3775}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @article {259, title = {Explaining the {\textquotedblleft}Mystery{\textquotedblright} of Periodicity in Inter-Transmission Times in Two-Dimensional Event-Triggered Controlled Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {68}, number = {2}, year = {2023}, month = {February}, pages = {912-927}, author = {R. Postoyan and R. G. Sanfelice and W. P. M. H. Heemels} } @article {237, title = {Robust Coordinated Hybrid Source Seeking with Obstacle Avoidance in Multi-Vehicle Autonomous Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {67}, number = {2}, year = {2022}, month = {February}, pages = {706-721}, author = {J. I. Poveda and M. Benosman and A. R. Teel and R. G. Sanfelice} } @article {190, title = {Robust Distributed Synchronization of Networked Linear Systems with Intermittent Information}, journal = {Automatica}, volume = {105}, year = {2019}, month = {July}, pages = {323-333}, author = {S. Phillips and R. G. Sanfelice} } @article {163, title = {Robust Distributed Estimation for Linear Systems under Intermittent Information}, journal = {IEEE Transactions on Automatic Control}, volume = {63}, number = {4}, year = {2018}, month = {April}, pages = {973-988}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @article {132, title = {Basic Properties and Characterizations of Incremental Stability Prioritizing Flow Time for a Class of Hybrid Systems}, journal = {Systems and Control Letters}, volume = {90}, year = {2016}, month = {April}, pages = {7-15}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @article {127, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a Riemannian Metric {(Part II)}}, journal = {IEEE Transactions on Automatic Control}, volume = {61}, number = {10}, year = {2016}, month = {October}, pages = {2848-2860}, author = {R. G. Sanfelice and L. Praly} } @article {112, title = {Robust Asymptotic Stability of Desynchronization in Impulse-Coupled Oscillators}, journal = {IEEE Transactions on Control of Network Systems}, volume = {3}, year = {2016}, month = {June}, pages = {127-136}, abstract = {

The property of desynchronization in an all-to-all network of homogeneous impulse-coupled oscillators is studied. Each impulse-coupled oscillator is modeled as a hybrid system with a single timer state that self-resets to zero when it reaches a threshold, at which event all other impulse-coupled oscillators adjust their timers following a common reset law. In this setting, desynchronization is considered as each impulse-coupled oscillator{\textquoteright}s timer having equal separation between successive resets. We show that for the considered model, desynchronization is an asymptotically stable property. For this purpose, we recast desynchronization as a set stabilization problem and employ Lyapunov stability tools for hybrid systems. Furthermore, several perturbations are considered showing that desynchronization is a robust property. Perturbations on the continuous and discrete dynamics are considered. Numerical results are presented to illustrate the main contributions.

}, keywords = {hybrid systems}, author = {S. Phillips and R. G. Sanfelice} } @article {70, title = {Robust Supervisory Control for Uniting Two Output-Feedback Hybrid Controllers with Different Objectives}, journal = {Automatica}, volume = {49}, number = {7}, year = {2013}, month = {July}, pages = {1958{\textendash}1969}, keywords = {hybrid systems}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109813001787}, url = {https://hybrid.soe.ucsc.edu/files/preprints/70.pdf}, author = {R. G. Sanfelice and C. Prieur} } @article {57, title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a {R}iemannian Metric {(Part I)}}, journal = {IEEE Transactions on Automatic Control}, volume = {57}, number = {7}, year = {2012}, month = {July}, pages = {1709{\textendash}1722}, keywords = {observers}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6104368}, url = {http://arxiv.org/abs/1412.6730}, author = {R. G. Sanfelice and L. Praly} } @article {53, title = {On the Performance of High-gain Observers with Sign-indefinite Gain Adaptation under Measurement Noise}, journal = {Automatica}, volume = {47}, number = {10}, year = {2011}, month = {October}, pages = {2165{\textendash}2176}, keywords = {observers}, doi = {http://www.sciencedirect.com/science/article/pii/S0005109811003736}, author = {R. G. Sanfelice and L. Praly} } @conference {355, title = {Interval Observers for Uncertain Hybrid Dynamical Systems with Known Jump Times}, booktitle = {Proceedings of the 64th IEEE Conference on Decision and Control}, year = {2025}, month = {November}, pages = {8264-8270}, author = {T. Pati and R. G. Sanfelice and S. Z. Yong} } @conference {327, title = {Deep Nonlinear Adaptive Control for Unmanned Aerial Systems Operating Under Dynamic Uncertainties}, booktitle = {2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference}, year = {2025}, month = {January}, author = {Z. Lamb and Z. Bell and M. Longmire and L. Paquet and P. Ganesh and R. G. Sanfelice} } @conference {298, title = {Interval Observers for Hybrid Dynamical Systems with Known Jump Times}, booktitle = {Proceedings of the 62nd IEEE Conference on Decision and Control}, year = {2023}, month = {December}, pages = {7507-7513}, author = {T. Pati and M. Khajenejad and S. P. Daddala and R. G. Sanfelice and S. Z. Yong} } @conference {251, title = {Hybrid Systems with Continuous-Time Inputs: Subtleties in Solution Concepts and Existence Results}, booktitle = {Proceedings of the 60th IEEE Conference on Decision and Control}, year = {2021}, month = {December}, pages = {5368-5373}, author = {W. P. M. H. Heemels and P. Bernard and R. Postoyan and K. Scheres and R. G. Sanfelice} } @conference {247, title = {Towards Hybrid Model Predictive Control for Computationally Aware Satellite Applications}, booktitle = {Proceedings of Workshop on Computation-Aware Algorithmic Design for Cyber-Physical Systems, CPSWeek 2021}, year = {2021}, month = {May}, pages = {15-17}, author = {C. Peterson and S. Phillips and D. Hustig-Schultz and R. G. Sanfelice} } @conference {239, title = {Adaptive Safety With Multiple Barrier Functions Using Integral Concurrent Learning}, booktitle = {Proceedings of the American Control Conference}, year = {2021}, month = {May}, pages = {3719-3724}, author = {A. Isaly and O. S. Patil and R. G. Sanfelice and W. E. Dixon} } @conference {229, title = {LMI-Based Output Feedback Control Design in the Presence of Sporadic Measurements}, booktitle = {Proceedings of the American Control Conference}, year = {2020}, month = {July}, pages = {3331-3336}, author = {R. Merco and F. Ferrante and R. G. Sanfelice and P. Pisu} } @conference {204, title = {Observer-based Synchronization of Multi-agent Systems Using Intermittent Output Measurements}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {8160 - 8165}, author = {S. Phillips and R. G. Sanfelice} } @conference {203, title = {Inter-event Times Analysis for Planar Linear Event-triggered Controlled Systems}, booktitle = {Proceedings of the 2019 IEEE Conference on Decision and Control}, year = {2019}, month = {December}, pages = {1662 - 1667}, author = {R. Postoyan and W. P. M. H. Heemels and R. G. Sanfelice} } @conference {184, title = {A Hybrid {PID} Design for Asymptotic Stabilization with Intermittent Measurements}, booktitle = {Proceedings of the 2018 IEEE Conference on Decision and Control}, year = {2018}, month = {December}, pages = {737-742}, author = {D. Lavell and S. Phillips and R. G. Sanfelice} } @conference {167, title = {A Hybrid Adaptive Feedback Law for Robust Obstacle Avoidance and Coordination in Multiple Vehicle Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {616-621}, author = {J. I. Poveda and M. Benosman and A. R. Teel and R. G. Sanfelice} } @conference {166, title = {Robust Exponential Stability of an Intermittent Transmission State Estimation Protocol}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {622-627}, author = {S. Phillips and R. S. Erwin and R. G. Sanfelice} } @conference {165, title = {Stealthy Attacks in Cloud-Connected (Linear-Impulsive) Systems}, booktitle = {Proceedings of the American Control Conference}, year = {2018}, month = {August}, pages = {146-152}, author = {A. Duz and S. Phillips and A. Fagiolini and R. G. Sanfelice and F. Pasqualetti} } @conference {162, title = {Hybrid Attack Monitor Design to Detect Recurrent Attacks in a Class of Cyber-Physical Systems}, booktitle = {Proceedings of the 2017 IEEE Conference on Decision and Control}, series = {NULL}, year = {2017}, month = {December}, pages = {1368-1373}, author = {S. Phillips and A. Duz and F. Pasqualetti and R. G. Sanfelice} } @conference {150, title = {On Asymptotic Synchronization of Interconnected Hybrid Systems with Applications}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2017}, month = {May}, pages = {2291-2296}, author = {S. Phillips and R. G. Sanfelice} } @conference {140, title = {A Hybrid Consensus Protocol for Pointwise Exponential Stability with Intermittent Information}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, year = {2016}, pages = {146--151}, author = {S. Phillips and Y. Li and R. G. Sanfelice} } @conference {139, title = {On Distributed Observers for Linear Time-invariant Systems Under Intermittent Information Constraints}, booktitle = {Proceedings of 10th IFAC Symposium on Nonlinear Control Systems}, year = {2016}, pages = {654--659}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @conference {131, title = {Robust Synchronization of Interconnected Linear Systems over Intermittent Communication Networks}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2016}, pages = {5575--5580}, abstract = {

The property of synchronization of multiple identical linear time-invariant (LTI) systems connected through a graph in a network with stochastically-driven isolated communication events is studied. More precisely, the goal is to design a feedback controller that, using information obtained over such networks, asymptotically drives the values of their states to synchronization and render the synchronization condition Lyapunov stable. To solve this problem, we propose a controller with hybrid dynamics, namely, the controller exhibits continuous dynamics between communication events while it has variables that jump at such events. Due to the additional continuous and discrete dynamics inherent to the networked systems and communication structure, we use a hybrid systems framework to model the closed-loop system and design the controller. The problem of synchronization is then recast as a compact set stabilization problem and, by employing Lyapunov stability tools for hybrid systems, sufficient conditions for asymptotic stability of the synchronization set are provided. Furthermore, we show that synchronization property is robust to a class of perturbations on the transmitted data. Numerical examples illustrate the main results.\ 

}, author = {S. Phillips and R. G. Sanfelice} } @conference {124, title = {Solution of a {R}iccati equation for the design of an observer contracting a {R}iemannian distance}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {4996--5001}, author = {R. G. Sanfelice and L. Praly} } @conference {119, title = {Robust Synchronization of Two Linear Systems over Intermittent Communication Networks}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2015}, month = {December}, pages = {5569--5574}, author = {S. Phillips and R. G. Sanfelice} } @conference {102, title = {Results on Incremental Stability for a Class of Hybrid Systems}, booktitle = {Proceedings of the 53rd IEEE Conference on Decision and Control}, series = {NULL}, year = {2014}, month = {December}, pages = {3089--3094}, abstract = {

Incremental stability is the notion that the distance between every pair of solutions to the system has stable behavior and approaches zero asymptotically. This paper introduces this notion for a class of hybrid systems. In particular, we define incremental stability as well as incremental partial stability, and study their properties. The approach used to derive our results consists of recasting the incremental stability problem as a set stabilization problem, for which the tools for asymptotic stability of hybrid systems are applicable. In particular, we propose an auxiliary hybrid system to study the stability of the diagonal set, which relates to incremental stability of the original system. The proposed notions are illustrated in examples throughout the paper.

}, keywords = {hybrid systems}, author = {Y. Li and S. Phillips and R. G. Sanfelice} } @conference {93, title = {A Framework for Modeling and Analysis of Robust Stability for Spiking Neurons}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2014}, month = {June}, pages = {1414-1419}, keywords = {hybrid systems}, author = {S. Phillips and R. G. Sanfelice} } @conference {72, title = {Results on the Asymptotic Stability Properties of Desynchronization in Impulse-coupled Oscillators}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2013}, month = {June}, pages = {3278{\textendash}3283}, keywords = {hybrid systems}, url = {https://hybrid.soe.ucsc.edu/files/preprints/72.pdf}, author = {S. Phillips and R. G. Sanfelice} } @conference {61, title = {On the Synchronization of Two Impulsive Oscillators under Communication Constraints}, booktitle = {Proceedings of the American Control Conference}, series = {NULL}, year = {2012}, pages = {2443{\textendash}2448}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6315647}, url = {https://hybrid.soe.ucsc.edu/files/preprints/61.pdf}, author = {S. Phillips and R. G. Sanfelice and R. S. Erwin} } @conference {43, title = {A Technical Result for the Study of High-gain Observers with Nonmonotonic Dynamic Gain}, booktitle = {Proc. NOLCOS 2010}, series = {NULL}, year = {2010}, pages = {284{\textendash}289}, keywords = {observers}, author = {R. G. Sanfelice and L. Praly} } @conference {42, title = {Uniting Two Output-Feedback Hybrid Controllers with Different Objectives}, booktitle = {Proc. 29th American Control Conference}, series = {NULL}, year = {2010}, pages = {910{\textendash}915}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=5530480}, url = {https://hybrid.soe.ucsc.edu/files/preprints/42.pdf}, author = {R. G. Sanfelice and C. Prieur} } @conference {39, title = {Nonlinear Observer Design with an Appropriate {R}iemannian Metric}, booktitle = {Proc. 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference}, series = {NULL}, year = {2009}, pages = {6514{\textendash}6519}, abstract = {

An observer whose state lives in the same space as the one of the given system and which guarantees a vanishing estimation error exhibits necessarily a symmetric matrix field which is related to the local observability information. A direct construction of this matrix field is possible by solving off-line ordinary differential equations. Using this symmetric matrix field as a Riemannian metric, we prove that geodesic convexity of the level sets of the output function is sufficient to allow the construction of an observer that contracts the geodesic distance between the estimated state and the system{\textquoteright}s state, globally in the estimated state and semi-globally in the estimation error.

}, keywords = {observers}, doi = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=5400714}, author = {R. G. Sanfelice and L. Praly} } @conference {10, title = {On the robustness to measurement noise and unmodeled dynamics of stability in hybrid systems}, booktitle = {Proc. 25th American Control Conference}, series = {NULL}, year = {2006}, pages = {4061{\textendash}4066}, abstract = {

Results on robustness to measurement noise and unmodeled dynamics of stability in hybrid systems are presented. We show that arbitrarily small measurement noise can lead to lack of existence of solutions in hybrid systems. One solution to this problem is to pass the measurements through a filter. Robustness to measurement noise using this filtering is shown explicitly. We also study the effect of unmodeled sensor/actuator dynamics in the closed loop and we demonstrate that stability is robust to a class of singular perturbations. The results are illustrated for the inverted pendulum on a cart system when attempting to globally asymptotically stabilize the inverted position of the pendulum and the neutral cart position.

}, keywords = {hybrid systems}, doi = {http://ieeexplore.ieee.org/iel5/11005/34689/01657354.pdf?tp=\&arnumber=1657354\&isnumber=34689}, url = {https://hybrid.soe.ucsc.edu/files/preprints/10.pdf}, author = {R. G. Sanfelice and A. R. Teel and R. Goebel and C. Prieur} }