@conference {19,
	title = {Hybrid {MPC}: Open-minded but not Easily Swayed},
	booktitle = {Assessment and Future Directions of Nonlinear Model Predictive Control},
	series = {NULL},
	volume = {Lecture Notes in Control and Information Sciences 358},
	year = {2007},
	pages = {17{\textendash}34},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	chapter = {Hybrid {MPC}: Open-minded but not Easily Swayed},
	abstract = {The robustness of asymptotic stability with respect to measurement noise for discrete-time feedback control systems is discussed. It is observed that, when attempting to achieve obstacle avoidance or regulation to a disconnected set of points for a continuous-time system using sample and hold state feedback, the noise robustness margin necessarily vanishes with the sampling period. With this in mind, we propose two modifications to standard model predictive control (MPC) to enhance robustness to measurement noise. The modifications involve the addition of dynamical states that make large jumps. Thus, they have a hybrid flavor. The proposed algorithms are well suited for situations where control algorithms must respond quickly to large changes in operating conditions but not be easily confused by moderately large measurement noise and similar disturbances.},
	keywords = {hybrid systems},
	doi = {http://www.springerlink.com/content/22236583418rr285/fulltext.pdf},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/19.pdf},
	author = {S. E. Tuna and R. G. Sanfelice and M. J. Messina and A. R. Teel}
}
@conference {7,
	title = {Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points},
	booktitle = {Proc. 25th American Control Conference},
	series = {NULL},
	year = {2006},
	pages = {3352{\textendash}3357},
	abstract = {<p>We give an elementary proof of the fact that, for continuous-time systems, it is impossible to use (even discontinuous) pure state feedback to achieve robust global asymptotic stabilization of a disconnected set of points or robust global regulation to a target while avoiding an obstacle. Indeed, we show that arbitrarily small, piecewise constant measurement noise can keep the trajectories away from the target. We give a constructive, Lyapunov-based hybrid state feedback that achieves robust regulation in the above mentioned settings.</p>},
	keywords = {hybrid systems},
	doi = {http://ieeexplore.ieee.org/iel5/11005/34689/01657236.pdf?tp=\&isnumber=\&arnumber=1657236},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/7.pdf},
	author = {R. G. Sanfelice and M. J. Messina and S. E. Tuna and A. R. Teel}
}
