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)
B. Thesis
[20] R. G. Sanfelice "Robust Hybrid Control Systems", PhD. Thesis: University of California, Santa Barbara, 2007. PDF icon 20.pdf (2.26 MB)
[2] R. G. Sanfelice "Novel current control for AC motors", B.S. Thesis: Universidad Nacional de Mar del Plata, 2001.
C. Book Chapters
[105] R. G. Sanfelice "Analysis and Design of Cyber-Physical Systems: A Hybrid Control Systems Approach", Cyber Physical Systems: From Theory to Practice: CRC Press, pp. 3-31, 2015. PDF icon 105.pdf (311.5 KB)
[103] R. G. Sanfelice "Feedback Control of Hybrid Dynamical Systems", Encyclopedia of Systems and Control: Springer, 2015.
[77] R. G. Sanfelice "Control of Hybrid Dynamical Systems: An Overview of Recent Advances", Hybrid Systems with Constraints: Wiley, pp. 146-177, April, 2013. PDF icon 77.pdf (356.53 KB)
[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
[112] S. Phillips, and R. G. Sanfelice "Robust Asymptotic Stability of Desynchronization in Impulse-Coupled Oscillators", IEEE Transactions on Control of Network Systems, vol. 3, pp. 127-136, June, 2016. PDF icon 112.pdf (2.46 MB)
[111] Y. Li, and R. G. Sanfelice "A Finite-time Convergent Observer with Robustness to Piecewise-constant Measurement Noise", Automatica, vol. 57, pp. 222-230, July, 2015. PDF icon 111.pdf (776.29 KB)
[110] T. A. F. Theunisse, J. Chai, R. G. Sanfelice, and M. Heemels "Robust Global Stabilization of the DC-DC Boost Converter via Hybrid Control", IEEE Transactions on Circuits and Systems I, vol. 62, pp. 1052-1061, April, 2015. PDF icon 110.pdf (2.94 MB)
[100] D. Tolic, R. G. Sanfelice, and R. Fierro "Input-Output Triggered Control using Lp Stability over Finite Horizons", International Journal of Robust and Nonlinear Control, pp. 2299--2327 , June, 2015. PDF icon 100.pdf (787.51 KB)
[96] R. G. Sanfelice "Input-Output-to-State Stability Tools for Hybrid Systems and Their Interconnections", IEEE Transactions on Automatic Control, vol. 59, no. 5, pp. 1360-1366, May, 2014. PDF icon 96.pdf (281.91 KB)
[89] Q. Shu, and R. G. Sanfelice "Dynamical Properties of a Two-gene Network with Hysteresis", Special Issue on Hybrid Systems and Biology, Elsevier Information and Computation, vol. 236, pp. 102--121, August, 2014. PDF icon 89.pdf (10.43 MB)
[88] R. G. Sanfelice, S. Z. Yong, and E. Frazzoli "On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints", Automatica, vol. 50, no. 2, pp. 537–546, February, 2014. PDF icon 88.pdf (318.66 KB)
[75] R. G. Sanfelice "On the existence of control Lyapunov functions and state-feedback laws for hybrid systems", IEEE Transactions on Automatic Control, vol. 58, no. 12, pp. 3242–3248, December, 2013. PDF icon 75.pdf (270.22 KB)
[70] R. G. Sanfelice, and C. Prieur "Robust Supervisory Control for Uniting Two Output-Feedback Hybrid Controllers with Different Objectives", Automatica, vol. 49, no. 7, pp. 1958–1969, July, 2013. PDF icon 70.pdf (738.87 KB)
[69] R. Naldi, and R. G. Sanfelice "Passivity-based Control for Hybrid Systems with Applications to Mechanical Systems Exhibiting Impacts", Automatica, vol. 49, no. 5, pp. 1104–1116, May, 2013. PDF icon 69.pdf (829.98 KB)
[67] R. G. Sanfelice, J. J. B. Biemond, N. van de Wouw, and W. P. M. H. Heemels "An Embedding Approach for the Design of State-Feedback Tracking Controllers for References with Jumps", International Journal of Robust and Nonlinear Control, vol. 24, no. 11, pp. 1585–1608, 2013. PDF icon 67.pdf (794.42 KB)
[52] R. G. Sanfelice "Interconnections of Hybrid Systems: Some Challenges and Recent Results", Journal of Nonlinear Systems and Applications, vol. 2, no. 1-2, pp. 111–121, 2011. PDF icon 52.pdf (326.67 KB)
[45] R. G. Sanfelice, and A. R. Teel "On singular perturbations due to fast actuators in hybrid control systems", Automatica, vol. 47, no. 4, pp. 692–701, April, 2011. PDF icon 45.pdf (735.31 KB)
[35] R. G. Sanfelice, and A. R. Teel "Asymptotic stability in hybrid systems via nested Matrosov functions", IEEE Transactions on Automatic Control, vol. 54, no. 7, pp. 1569–1574, 2009. PDF icon 35.pdf (166.18 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
[109] P. Nanez, R. G. Sanfelice, and N. Quijano "Invariance Principles for Switched Differential-Algebraic Systems Under Arbitrary and Dwell-time Switching", Proceedings of the American Control Conference, pp. 1788--1793, June, 2015. PDF icon 109.pdf (406.96 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)
[107] P. Casau, C. G. Mayhew, R. G. Sanfelice, and C. Silvestre "Global Exponential Stabilization on the $n$-Dimensional Sphere", Proceedings of the American Control Conference, pp. 3218--3223, June, 2015. PDF icon 107.pdf (166.88 KB)
[102] Y. Li, S. Phillips, and R. G. Sanfelice "Results on Incremental Stability for a Class of Hybrid Systems", Proceedings of the 53rd IEEE Conference on Decision and Control, pp. 3089--3094, December, 2014. PDF icon 102.pdf (299.89 KB)
[101] P. Casau, R. G. Sanfelice, and C. Silvestre "A Hybrid Controller for Global Uniform Exponential Stabilization of Linear Systems with Singular Input Constraints", Proceedings of the Conference on Decision and Control, pp. 741--746, December, 2014. PDF icon 101.pdf (229.14 KB)
[94] P. Nanez, and R. G. Sanfelice "An Invariance Principle for Differential-Algebraic Equations with Jumps", Proceedings of the 2014 American Control Conference, pp. 1426-1431, 2014. PDF icon 94.pdf (425.95 KB)
[93] S. Phillips, and R. G. Sanfelice "A Framework for Modeling and Analysis of Robust Stability for Spiking Neurons", Proceedings of the American Control Conference, pp. 1414-1419, June, 2014. PDF icon 93.pdf (647 KB)
[92] R. Naldi, and R. G. Sanfelice "Sufficient Conditions for Passivity and Stability of Interconnections of Hybrid Systems using Sums of Storage Functions", Proceedings of the 2014 American Control Conference, pp. 1432-1437, 2014. PDF icon 92.pdf (266.83 KB)
[91] J. Chai, and R. G. Sanfelice "A Robust Hybrid Control Algorithm for a Single-Phase DC/AC Inverter with Variable Input Voltage", Proceedings of the 2014 American Control Conference, pp. 1420-1425, 2014. PDF icon 91.pdf (1.19 MB)
[85] R. G. Sanfelice "Pointwise Minimum-norm Control Laws for Hybrid Systems", Proceedings of the IEEE Conference on Decision and Control, pp. 2665–2670, 2013. PDF icon 85.pdf (154.2 KB)
[83] Q. Shu, and R. G. Sanfelice "On the Stability of Hybrid Limit Cycles and Isolated Equilibria in a Genetic Network with Binary Hysteresis", Proceedings of the IEEE Conference on Decision and Control, pp. 4080–4085, 2013. PDF icon 83.pdf (1.46 MB)
[82] T. A. F. Theunisse, J. Chai, R. G. Sanfelice, and W.P.M.H. Heemels "Hybrid Control of the Boost Converter: Robust Global Stabilization", Proceedings of the IEEE Conference on Decision and Control, pp. 3635–3640, 2013. PDF icon 82.pdf (671.28 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)
[79] X. Tian, J. H. Koessler, and R. G. Sanfelice "Juggling On A Bouncing Ball Apparatus Via Hybrid Control", Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1848–1853, 2013. PDF icon 79.pdf (355.65 KB)
[78] Y. Kouhi, N. Bajcinca, and R. G. Sanfelice "Suboptimality Bounds for Linear Quadratic Problems in Hybrid Linear Systems", Proceedings of the European Control Conference, pp. 2663–2668, 2013. PDF icon 78.pdf (247.98 KB)
[76] D.R. Wibben, R. Furfaro, and R. G. Sanfelice "Optimal Lunar Landing and Retargeting using a Hybrid Control Strategy", Proceedings of AAS/AIAA Space Flight Mechanics Meeting, February, 2013. PDF icon 76.pdf (1.1 MB)
[72] S. Phillips, and R. G. Sanfelice "Results on the Asymptotic Stability Properties of Desynchronization in Impulse-coupled Oscillators", Proceedings of the American Control Conference, pp. 3278–3283, June, 2013. PDF icon 72.pdf (2.11 MB)
[64] J.J.B. Biemond, N. van de Wouw, W.P.M.H. Heemels, R. G. Sanfelice, and H. Nijmeijer "Tracking control of mechanical systems with a unilateral position constraint inducing dissipative impacts", Proceedings of the IEEE Conference on Decision and Control, pp. 4223–4228, 2012. PDF icon 64.pdf (191.14 KB)
[63] D. R. Wibben, R. Furfaro, and R. G. Sanfelice "Switching System Model for Pinpoint Lunar Landing Guidance Using a Hybrid Control Strategy", Proceedings of the AIAA Guidance, Navigation, and Control Conference, 2012. PDF icon 63.pdf (10.62 MB)
[62] D. Tolic, R. G. Sanfelice, and R. Fierro "Self-Triggering in Nonlinear Systems: A Small Gain Theorem Approach", Proceedings of the 20th Mediterranean Conference on Control and Automation, pp. 941–947, 2012. PDF icon 62.pdf (340.61 KB)
[61] S. Phillips, R. G. Sanfelice, and R. S. Erwin "On the Synchronization of Two Impulsive Oscillators under Communication Constraints", Proceedings of the American Control Conference, pp. 2443–2448, 2012. PDF icon 61.pdf (455.29 KB)
[56] R. G. Sanfelice "Control Lyapunov Functions and Stabilizability of Compact Sets for Hybrid Systems", Proceedings of the Joint Conference on Decision and Control and European Control Conference, pp. 7404–7409, 2011. PDF icon 56.pdf (251.69 KB)
[55] R. Naldi, and R. G. Sanfelice "Passivity-based Controllers for a Class of Hybrid Systems with Applications to Mechanical Systems Interacting with their Environment", Proc. Joint Conference on Decision and Control and European Control Conference, pp. 7416–7421, 2011. PDF icon 55.pdf (166.54 KB)
[54] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Further results on synergistic Lyapunov functions and hybrid feedback design through backstepping", Proc. Joint Conference on Decision and Control and European Control Conference, pp. 7428–7433, 2011. PDF icon 54.pdf (134.61 KB)
[51] R. G. Sanfelice, J. J. B. Biemond, N. van de Wouw, and W. P. M. H. Heemels "Tracking Control for Hybrid Systems via Embedding of Known Reference Trajectories", Proc. 30th American Control Conference, pp. 869–874, 2011. PDF icon 51.pdf (193.81 KB)
[49] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Synergistic Lyapunov functions and backstepping hybrid feedbacks", Proc. 30th American Control Conference, pp. 3203–3208, 2011. PDF icon 49.pdf (125.5 KB)
[46] M. Robles, and R. G. Sanfelice "Hybrid Controllers for Tracking of Impulsive Reference Trajectories: A Hybrid Exosystem Approach", Proc. 14th International Conference Hybrid Systems: Control and Computation, pp. 231–240, 2011. PDF icon 46.pdf (273.02 KB)
[44] R. G. Sanfelice "Results on Input-to-Output and Input-Output-to-State Stability for Hybrid Systems and their Interconnections", Proc. 49th IEEE Conference on Decision and Control, pp. 2396–2401, 2010. PDF icon 44.pdf (108.11 KB)
[42] R. G. Sanfelice, and C. Prieur "Uniting Two Output-Feedback Hybrid Controllers with Different Objectives", Proc. 29th American Control Conference, pp. 910–915, 2010. PDF icon 42.pdf (139.72 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)
[32] D. Dai, R. G. Sanfelice, T. Hu, and A. R. Teel "Analysis of hybrid systems resulting from hysteresis and saturation: a Lyapunov approach", Proc. 47th IEEE Conference on Decision and Control, pp. 2764–2769, 2008. PDF icon 32.pdf (177.15 KB)
[31] S. Karaman, R. G. Sanfelice, and E. Frazzoli "Optimal Control of Mixed Logical Dynamical Systems with Linear Temporal Logic Specifications", Proc. 47th IEEE Conference on Decision and Control, pp. 2117–2122, 2008. PDF icon 31.pdf (224.52 KB)
[30] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust hybrid source-seeking algorithms based on directional derivatives and their approximations", Proc. 47th IEEE Conference on Decision and Control, pp. 1735–1740, 2008. PDF icon 30.pdf (174.31 KB)
[27] R. G. Sanfelice, and A. R. Teel "A Nested Matrosov Theorem for Hybrid Systems", Proc. 27th American Control Conference, pp. 2915–2920, 2008. PDF icon 27.pdf (232.88 KB)
[26] R. G. Sanfelice, and E. Frazzoli "A Hybrid Control Framework for Robust Maneuver-based motion planning", Proc. 27th American Control Conference, pp. 2254–2259, 2008. PDF icon 26.pdf (197.84 KB)
[25] R. O'Flaherty, R. G. Sanfelice, and A. R. Teel "Robust global swing-up of the pendubot via hybrid control", Proc. 27th American Control Conference, pp. 1424–1429, 2008. PDF icon 25.pdf (302.93 KB)
[24] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust source-seeking hybrid controllers for nonholonomic vehicles", Proc. 27th American Control Conference, pp. 2722–2727, 2008. PDF icon 24.pdf (539.78 KB)
[23] R. G. Sanfelice, and E. Frazzoli "On the optimality of Dubins paths across heterogeneous terrain", Hybrid Systems: Computation and Control, vol. 4981: Springer Berlin / Heidelberg, pp. 457-470, 2008. PDF icon 23.pdf (172.44 KB)
[19] S. E. Tuna, R. G. Sanfelice, M. J. Messina, and A. R. Teel "Hybrid MPC: Open-minded but not Easily Swayed", Assessment and Future Directions of Nonlinear Model Predictive Control, vol. Lecture Notes in Control and Information Sciences 358: Springer Berlin / Heidelberg, pp. 17–34, 2007. PDF icon 19.pdf (574.59 KB)
[17] R. G. Sanfelice, A. R. Teel, and R. Sepulchre "A hybrid systems approach to trajectory tracking control for juggling systems", Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, pp. 5282–5287, 2007. PDF icon 17.pdf (172.78 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)
[13] R. Carloni, R. G. Sanfelice, A. R. Teel, and C. Melchiorri "A hybrid control strategy for robust contact detection and force regulation", Proc. 26th American Control Conference, pp. 1461–1466, 2007. PDF icon 13.pdf (357.75 KB)
[12] C. G. Mayhew, R. G. Sanfelice, and A. R. Teel "Robust source seeking hybrid controllers for autonomous vehicles", Proc. 26th American Control Conference, pp. 1185–1190, 2007. PDF icon 12.pdf (537.94 KB)
[11] R. G. Sanfelice, and A. R. Teel "A ``throw-and-catch" hybrid control strategy for robust global stabilization of nonlinear systems", Proc. 26th American Control Conference, pp. 3470–3475, 2007. PDF icon 11.pdf (166.14 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)
[9] R. G. Sanfelice, and A. R. Teel "Lyapunov analysis of sample-and-hold hybrid feedbacks", Proc. 45th IEEE Conference on Decision and Control, pp. 4879–4884, 2006. PDF icon 9.pdf (373 KB)
[7] R. G. Sanfelice, M. J. Messina, S. E. Tuna, and A. R. Teel "Robust hybrid controllers for continuous-time systems with applications to obstacle avoidance and regulation to disconnected set of points", Proc. 25th American Control Conference, pp. 3352–3357, 2006. PDF icon 7.pdf (508.34 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)
[5] R. G. Sanfelice, and A. R. Teel "On hybrid controllers that induce input-to-state stability with respect to measurement noise", Proc. 44th IEEE Conference on Decision and Control and European Control Conference, pp. 4891–4896, 2005. PDF icon 5.pdf (164.18 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)
[1] M. Benedetti, J.F. Rovira, and R. G. Sanfelice "Novel current control for AC motors with low torque ripple", Proc. IX Workshop on Information Processing and Control RPIC, 2001. PDF icon 1.pdf (393.26 KB)