Publications

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A. Books
[65] R. Goebel, R. G. Sanfelice, and A. R. Teel Hybrid Dynamical Systems: Modeling, Stability, and Robustness , New Jersey, Princeton University Press, 2012. PDF icon 65.pdf (1.27 MB)
C. Book Chapters
[36] A. R. Teel, R. G. Sanfelice, and R. Goebel "Hybrid Control Systems", Encyclopedia of Complexity and Systems Science: Springer, 2009.
[21] C. Cai, R. Goebel, R. G. Sanfelice, and A. R. Teel "Hybrid systems: limit sets and zero dynamics with a view toward output regulation", Analysis and Design of Nonlinear Control Systems: Springer-Verlag, pp. 241-261, 2008. PDF icon 21.pdf (283.11 KB)
D. Journal Articles
[349] A. R. Teel, R. G. Sanfelice, and R. Goebel "Stochastic Approximation of Hybrid Systems: Boundedness and Asymptotic Behavior", Annual Reviews in Control, 2025.
[348] R. Goebel, R. G. Sanfelice, and A. R. Teel "Lyapunov-like Descriptions of Strong Forward Invariance for Differential Inclusions", SIAM Journal on Control and Optimization, 2025.
[316] J. de Priester, Z. Bell, P. Ganesh, and R. G. Sanfelice "MultiHyRL: Robust Hybrid RL for Obstacle Avoidance against Adversarial Attacks on the Observation Space", Reinforcement Learning Journal, vol. 1, no. 1, August, 2024. PDF icon 316.pdf (3.81 MB)
[306] A. Isaly, M. Ghanbarpour, R. G. Sanfelice, and W. Dixon "On the Feasibility and Continuity of Feedback Controllers Defined by Multiple Control Barrier Functions", IEEE Transactions on Automatic Control, vol. 69, pp. 1-15, March, 2024. PDF icon 306.pdf (1.12 MB)
[303] M. Guarro, F. Ferrante, and R. G. Sanfelice "A Hybrid Observer for Linear Systems under Delayed Sporadic Measurements", International Journal of Robust and Nonlinear Control, pp. 1-26, January, 2024. PDF icon 303.pdf (874.79 KB)
[284] L. Burbano, K. Garg, S. Jimenez, A. Cardenas, and R.G. Sanfelice "Online Attack Recovery in Cyber-Physical Systems", IEEE Security and Privacy, vol. 21, no. 4, pp. 20-28, July, 2023. PDF icon 284.pdf (411.74 KB)
[282] M. Guarro, and R. G. Sanfelice "HyNTP: A Distributed Hybrid Algorithm for Time Synchronization", IEEE Transactions on Control of Network Systems, pp. 1-12, January, 2023. PDF icon 282.pdf (3.73 MB)
[275] M. Ghanbarpour, A. Isaly, R. G. Sanfelice, and W. Dixon "Optimal Safety for Constrained Differential Inclusions using Nonsmooth Control Barrier Functions", IEEE Control Systems Letters (L-CSS), vol. 7, pp. 1303-1308, December, 2022. PDF icon 275.pdf (405.38 KB)
[272] J. Giraldo, A. Cardenas, and R. G. Sanfelice "A Switching-based Moving Target Defense Against Sensor Attacks in Control Systems", Nonlinear Analysis: Hybrid Systems, vol. 47, 2022. PDF icon 272.pdf (7.66 MB)
[212] R. Goebel, and R. G. Sanfelice "A unifying convex analysis and switching system approach to consensus with undirected communication graphs", Automatica, vol. 111, January, 2020. PDF icon 212.pdf (178.21 KB)
[189] F. Ferrante, F. Gouaisbaut, R. G. Sanfelice, and S. Tarbouriech "$\mathcalL_2$ State Estimation with Guaranteed Convergence Speed in the Presence of Sporadic Measurements", IEEE Transactions on Automatic Control, vol. 64, no. 8, pp. 3362 - 3369, August, 2019. PDF icon 189.pdf (205.6 KB)
[178] R. Goebel, and R. G. Sanfelice "Pointwise Asymptotic Stability in a Hybrid System and Well-Posed Behavior Beyond Zeno", SIAM Journal on Control and Optimization, vol. 56, no. 2, pp. 1358-1385, April, 2018. PDF icon 178.pdf (457.15 KB)
[136] F. Ferrante, F. Gouaisbaut, R. G. Sanfelice, and S. Tarbouriech "State Estimation of Linear Systems in the Presence of Sporadic Measurements", Automatica, vol. 73, pp. 101-109, November, 2016. PDF icon 136.pdf (503.28 KB)
[34] R. Goebel, R. G. Sanfelice, and A.R. Teel "Hybrid dynamical systems", IEEE Control Systems Magazine, vol. 29, no. 2, pp. 28-93, April, 2009. PDF icon 34.pdf (3.63 MB)
[29] R. G. Sanfelice, R. Goebel, and A.R. Teel "Generalized solutions to hybrid dynamical systems", ESAIM: Control, Optimisation and Calculus of Variations, vol. 14, no. 4, pp. 699–724, 2008. PDF icon 29.pdf (357.09 KB)
[22] R. Goebel, R. G. Sanfelice, and A. R. Teel "Invariance principles for switching systems via hybrid systems techniques", Systems & Control Letters, vol. 57, no. 12, pp. 980-986, December, 2008. PDF icon 22.pdf (199.54 KB)
[18] R. G. Sanfelice, R. Goebel, and A. R. Teel "Invariance principles for hybrid systems with connections to detectability and asymptotic stability", IEEE Transactions on Automatic Control, vol. 52, no. 12, pp. 2282–2297, 2007. PDF icon 18.pdf (276.4 KB)
E. Conference Papers
[340] A. R. Teel, R. Goebel, and R. G. Sanfelice " Stochastic Approximations of Differential Inclusions: Almost Sure Boundedness and Asymptotic Convergence", 13th IFAC Symposium on Nonlinear Control Systems (NOLCOS), August, 2025.
[330] P. K. Wintz, Y. Sonmez, P. Griffioen, M. Xu, S. Oh, H. Litz, R. G. Sanfelice, and M. Arcak "Sharc: Simulator for Hardware Architecture and Real-time Control", Proceedings of the Conference on Hybrid Systems: Computation and Control, May, 2025. PDF icon 330.pdf (1.91 MB)
[327] Z. Lamb, Z. Bell, M. Longmire, L. Paquet, P. Ganesh, and R. G. Sanfelice "Deep Nonlinear Adaptive Control for Unmanned Aerial Systems Operating Under Dynamic Uncertainties", 2025 AIAA SciTech Forum-Guidance, Navigation, and Control Conference, January, 2025.
[324] A. R. Teel, R. Goebel, R. G. Sanfelice, and M. F. Crisafulli "Stochastic Approximation Results for Hybrid Inclusions", Proceedings of the 63rd IEEE Conference on Decision and Control, pp. 7822-7827, December, 2024.
[323] S. Garcia-Castro, G. Q. B. Tran, P. Bernard, R. G. Sanfelice, and F. Di-Meglio "Towards Gluing KKL Observer for Hybrid Systems with Unknown Jump Times", Proceedings of the 63rd IEEE Conference on Decision and Control, pp. 1-11, December, 2024.
[320] R. Goebel, R. G. Sanfelice, and A. R. Teel "Some Converse Lyapunov-Like Results for Strong Forward Invariance", Proceedings of the 63rd IEEE Conference on Decision and Control, pp. 3605-3610, December, 2024.
[297] A. R. Teel, R. Goebel, and R. G. Sanfelice "Multi-Channel Hybrid Time Domains and Clustering Protocols for Large-Scale Interconnections", Proceedings of the 62nd IEEE Conference on Decision and Control, pp. 2847-2852, December, 2023. PDF icon 297.pdf (245.51 KB)
[288] S. Jimenez, K. Garg, R. G. Sanfelice, and A. Cardenas "An Observer-Based Switching Algorithm for Safety under Sensor Denial-Of-Service Attacks", Proceedings of the American Control Conference, pp. 2469-2474, July, 2023. PDF icon 288.pdf (887.41 KB)
[281] K. Garg, R. G. Sanfelice, and A. Cardenas "Control Barrier Function-Based Attack-Recovery with Provable Guarantees", Proceedings of the 61st IEEE Conference on Decision and Control, December, pp. 4808-4813, December, 2022. PDF icon 281.pdf (1.14 MB)
[271] K. Garg, A. Cardenas, and R. G. Sanfelice "Sampling-Based Computation of Viability Domain to Prevent Safety Violations by Attackers", Proceedings of the 6th IEEE Conference on Control Technology and Applications, pp. 720-725, August, 2022. PDF icon 271.pdf (3.05 MB)
[267] A. Isaly, M. Ghanbarpour, W. Dixon, and R. G. Sanfelice "On the Feasibility and Continuity of Feedback Controllers Defined by Multiple Control Barrier Functions for Constrained Differential Inclusions", Proceedings of the American Control Conference, pp. 5160-5165, June, 2022. PDF icon 267.pdf (305.21 KB)
[254] M. Ghanbarpour, and R. G. Sanfelice "A Duality Approach to Set Invariance and Safety for Nonlinear Systems", Proceedings of the 60th IEEE Conference on Decision and Control, pp. 5388-5393, December, 2021. PDF icon 254.pdf (715 KB)
[227] H. Gao, M. Maghenem, and R. G. Sanfelice "Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load", Proceedings of the American Control Conference, pp. 1037-1042, July, 2020. PDF icon 227.pdf (1.81 MB)
[225] M. Guarro, and R. G. Sanfelice "HyNTP: An Adaptive Hybrid Network Time Protocol for Clock Synchronization in Heterogeneous Distributed Systems", Proceedings of the American Control Conference, pp. 1025-1030, July, 2020. PDF icon 225.pdf (718.64 KB)
[222] M. Guarro, and R. G. Sanfelice "An Adaptive Hybrid Control Algorithm for Sender-Receiver Clock Synchronization", Proceedings of the IFAC World Congress, vol. 53, no. 2, pp. 1906-1911, July, 2020. PDF icon 222.pdf (537.19 KB)
[192] J. Giraldo, A. Cardenas, and R. G. Sanfelice "A Moving Target Defense to Detect Stealthy Attacks in Cyber-Physical Systems", Proceedings of the American Control Conference, pp. 391-396, July, 2019. PDF icon 192.pdf (1.4 MB)
[187] M. Guarro, F. Ferrante, and R. G. Sanfelice "State Estimation of Linear Systems over a Network subject to Sporadic Measurements and Time-Delays", Proceedings of the IFAC Workshop on Distributed Estimation and Control of Networked Systems, pp. 313-318, August, 2018. PDF icon 187.pdf (530.76 KB)
[180] R. Goebel, and R. G. Sanfelice "Applications of convex analysis to consensus algorithms, pointwise asymptotic stability, and its robustness", Proceedings of the 2018 IEEE Conference on Decision and Control, pp. 2378-2383, December, 2018. PDF icon 180.pdf (123.74 KB)
[143] R. Goebel, and R. G. Sanfelice "Notions and Sufficient Conditions for Pointwise Asymptotic Stability in Hybrid Systems", Proceedings of 10th IFAC Symposium on Nonlinear Control Systems, vol. 49, no. 18, pp. 140-145, August, 2016. PDF icon 143.pdf (129.71 KB)
[126] R. Goebel, and R. G. Sanfelice "How well-posedness of hybrid systems can extend beyond Zeno times", Proceedings of the IEEE Conference on Decision and Control, pp. 598--603, 2016. PDF icon 126.pdf (197.28 KB)
[123] F. Ferrante, F. Gouaisbaut, R. G. Sanfelice, and S. Tarbouriech "A Hybrid Observer with a Continuous Intersample Injection in the Presence of Sporadic Measurements", Proceedings of the IEEE Conference on Decision and Control, pp. 5654--5659, December, 2015. PDF icon 123.pdf (315.54 KB)
[108] F. Ferrante, F. Gouaisbaut, R. G. Sanfelice, and S. Tarbouriech "Observer-based Control Design for Linear Systems in the Presence of Limited Measurement Streams and Intermittent Input Access", Proceedings of the American Control Conference, pp. 4689-4694, June, 2015. PDF icon 108.pdf (397.54 KB)
[97] F. Ferrante, F. Gouaisbaut, R. G. Sanfelice, and S. Tarbouriech "An Observer with Measurement-triggered Jumps for Linear Systems with Known Input", Proceedings of the 19th IFAC World Congress, pp. 140--145, 2014. PDF icon 97.pdf (597.24 KB)
[87] G. Gil, R. G. Sanfelice, and P. E. Nikravesh "Local linearization method in the integration of multibody equations", Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics, 2013. PDF icon 87.pdf (570.48 KB)
[86] G. Gil, R. G. Sanfelice, and P. E. Nikravesh "Numerical integration scheme using singular perturbation method", Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 2013. PDF icon 86.pdf (524.78 KB)
[80] Q. Shu, C. Ardilla, R. G. Sanfelice, and J. P. Vande Geest "A Hybrid Model of a Genetic Regulatory Network in Mammalian Sclera", Proceedings of the Hybrid Systems and Biology Workshop, 2013. PDF icon 80.pdf (595.64 KB)
[33] R. G. Sanfelice, A. R. Teel, and R. Goebel "Supervising a family of hybrid controllers for robust global asymptotic stabilization", Proc. 47th IEEE Conference on Decision and Control, pp. 4700–4705, 2008. PDF icon 33.pdf (171.94 KB)
[16] C. Cai, R. Goebel, R. G. Sanfelice, and A.R. Teel "Complex hybrid systems: stability analysis for omega limit sets", Proc. 26th Chinese Control Conference, 2007. PDF icon 16.pdf (72.48 KB)
[15] R. Goebel, R. G. Sanfelice, and A.R. Teel "Hybrid systems techniques for convergence of solutions to switched systems", Proc. 46th IEEE Conference on Decision and Control, pp. 92–96, 2007. PDF icon 15.pdf (98.02 KB)
[14] C. Cai, R. Goebel, R. G. Sanfelice, and A. R. Teel "Hybrid Systems: stability and control", Proc. 26th Chinese Control Conference, 2007. PDF icon 14.pdf (140.95 KB)
[10] R. G. Sanfelice, A. R. Teel, R. Goebel, and C. Prieur "On the robustness to measurement noise and unmodeled dynamics of stability in hybrid systems", Proc. 25th American Control Conference, pp. 4061–4066, 2006. PDF icon 10.pdf (302.08 KB)
[6] R. G. Sanfelice, R. Goebel, and A.R. Teel "A feedback control motivation for generalized solutions to hybrid systems", Hybrid Systems: Computation and Control, Lecture Notes in Computer Science 3927: Springer Berlin / Heidelberg, pp. 522–536, 2006. PDF icon 6.pdf (190.08 KB)
[4] R. G. Sanfelice, R. Goebel, and A.R. Teel "Results on convergence in hybrid systems via detectability and an invariance principle", Proc. 24th American Control Conference, pp. 551–556, 2005. PDF icon 4.pdf (151.81 KB)
[3] R. Goebel, J.P. Hespanha, A.R. Teel, C. Cai, and R. G. Sanfelice "Hybrid systems: generalized solutions and robust stability", Proc. 6th IFAC Symposium in Nonlinear Control Systems, pp. 1–12, 2004. PDF icon 3.pdf (292.35 KB)