Hybrid Feedback Control


Hybrid Feedback Control
R. G. Sanfelice
Princeton University Press

Publisher's website: 


Hybrid control systems exhibit discrete changes, or jumps, and continuous changes, or flow. An example of a hybrid control system is the automatic control of the temperature in a room: the temperature changes continuously at all times, but the control algorithm toggles on or off the heater in the room, triggering a discrete jump in a logic variable within the algorithm. Hybrid control systems feature widely across disciplines, including in biology, computer science, and engineering, and examples range from controlling cellular response to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid control systems.

In Hybrid Feedback Control, Ricardo Sanfelice presents a self-contained introduction to hybrid control systems, and develops new tools for their analysis and design. Hybrid behavior can occur in one or more subsystems of a feedback system, and Sanfelice offers a unified control theory framework, filling an important gap in the control theory literature. In addition to the theoretical framework, he includes a plethora of examples and exercises, a Matlab toolbox (as well as two open-source versions), and an insightful overview at the beginning of each chapter. 

Relevant to dynamical systems theory, applied mathematics, and computer science, Hybrid Feedback Control will be useful to students and researchers working on hybrid systems, cyber-physical systems, control, and automation. 

Ricardo G. Sanfelice is professor of electrical and computer engineering at the University of California, Santa Cruz. He is the coauthor of Hybrid Dynamical Systems (Princeton).

Available at Amazon.com


Chapter 1: Introduction

Chapter 2: Modeling Framework

Chapter 3: Notions and Analysis Tools

Chapter 4: Uniting Control

Chapter 5: Event-Triggered Control

Chapter 6: Throw-Catch Control

Chapter 7: Synergistic Control

Chapter 8: Supervisory Control

Chapter 9: Passivity-Based Control

Chapter 10: Feedback Design via Control Lyapunov Functions

Chapter 11: Invariants and Invariance-Based Control

Chapter 12: Temporal Logic


The simulations files associated with the examples in the book are available at the links below.

Chapter 1

Simulation files for @BookSite/Simulation/DCAC on pages 13 and 325 are available at https://github.com/HybridSystemsLab/DCAC

Simulation files for @BookSite/Simulation/Sync on page 26 are available at https://github.com/HybridSystemsLab/Sync

Chapter 2

Simulation files for @BookSite/Simulation/Dubins on page 36 are available at https://github.com/HybridSystemsLab/Dubins

Simulation files for @BookSite/Simulation/Juggling on page 78 are available at https://github.com/HybridSystemsLab/Juggling

Chapter 4

Simulation files for heavy ball algorithm on page  120 and 132 are available at https://github.com/HybridSystemsLab/HeavyBall

Chapter 5

Simulation files for @BookSite/Simulation/ETZeno on page 155 are available at https://github.com/HybridSystemsLab/ETZeno

Chapter 6

Simulation files for @BookSite/Simulation/Obstacle on page 196 are available at https://github.com/HybridSystemsLab/Obstacle

Chapter 9

Simulation files for @BookSite/Simulation/Juggling2 on page 277 are available at https://github.com/HybridSystemsLab/Juggling2

Chapter 10

Simulation files for @BookSite/Simulation/CLFpendulum on page 299 are available at https://github.com/HybridSystemsLab/CLFpendulum

Simulation files for @BookSite/Simulation/HybridOscillator on page 300 are available at https://github.com/HybridSystemsLab/HybridOscillator

Simulation files for @BookSite/Simulation/RCLFpendulum on page 306 are available at https://github.com/HybridSystemsLab/RCLFpendulum


The simulations files associated with some of the exercises in the book are available at the links below.

Exercise 8

Simulation files for Exercise 8 on page 78 are available at https://github.com/HybridSystemsLab/UnknownHybridSystem1

Exercise 9

Simulation files for Exercise 9 on page 78 are available at https://github.com/HybridSystemsLab/UnknownHybridSystem2

Additional material is available upon request.