
Introduction to Hybrid Systems and Control
Announcements
 Mar. 26: Next week will be an introduction to hybrid reachability and dynamic games; lectures MW and discussion group Friday.
 Mar. 26: Undergrads who want to present their project should contact me by this Friday.
 Mar. 17: The written component of the final project is due Apr. 18. If you are working in a team, you may hand in one report jointly, but will all receive the same grade. Please see the project handout for more details on expectations for the writeup in joint vs. individual work.
 Mar. 16: Lectures MW this week will be on reference tracking. Lecture W next week (Mar 26) will be on reducedorder observers and controllers. Next Friday (Mar 28) will be a discussion group on mode detection and hybrid estimation. If you plan to attend, please read the articles listed under Readings below before class on Friday. The papers are downloadable from the 571M website.
 Mar. 11: There are 2 typos in Problem Set #3. Please see the Errata below. The updated .pdf has been posted.
 Mar. 10: Friday Mar. 16 will be a discussion group on hybrid optimal control. If you plan to attend, please read the two articles listed under Readings below before class on Friday. The papers are downloadable from the 571M website.
 Mar. 7: Problem Set #3 is posted, due Wed. Mar 19.
 Mar. 5: Class is cancelled today, but will resume Friday, Mar. 7.
 Feb. 27: Project description for undergraduate project is posted. Sign up in teams or individually for your project by Monday, Mar. 3
 Feb. 13: Class is cancelled for Monday, Feb. 25.
 Feb. 8: Problem Set #2 is due at the end of day, Tuesday Feb. 12, so that
students can take advantage of office hours on Monday.
 Jan. 30: Undergraduate students may hand in the 'GS' part of
Problem 3 in Problem Set #1 for extra credit. (The problem is required
for graduate students).
 Jan. 24: There are typos in Problem Set #1 (see Errata below).
The corrected version has now been posted. If you have already started Problem Set #1,
you may hand in solutions for the original version. If you have
not started, please use the corrected version. Note at the top
of your solutions whether you are using the original or corrected formulations.
 Jan. 7: First class will be held Monday January 7, 10am11am, MCLD 254.
Assigned Reading
 Week 1, January 7, 9, 11: Tomlin Lectures 12.
 Week 2, January 14, 16, 18: Friedland Ch. 2.1, 2.2, Ch. 3.13.6
 Week 3, January 21, 23, 25: Friedland App. A.4, A.6, A.7, A.8, Ch. 4.4.; Handout #1 Ch. 2.1.
 Week 4, January 28, 30, February 1: Handout #2, Friedland A.10.
 Week 5, February 4, 6, 8: Tomlin Lecture 6.
 Week 6, February 11, 13, 15: Tomlin Lecture 6, Branicky 1998; Johansson and Rantzer 1998.
 Week 7, February 27, 29: Tomlin Lecture 6; DeCarlo et al, 2000.
 Week 8, March 3, 5, 7: Liberzon and Morse, 1999.
 Week 9, March 10, 12, 14: Friedland, 9.19.5; M. Johansson and A. Rantzer, TAC 2000; M. Lazar, P. Heemels, S. Weiland, A. Bemporad, TAC 2006.
 Week 10, March 17, 19: Friedland 5.5, 6.4, 7.4; Handout #3.
 Week 11, March 26, 28: Friedland 5.1, 5.2, 5.4, 7.5; I. Hwang, H. Balakrishnan, and C. Tomlin, IEE 2006; R. Vidal, A. Chiuso, S. Soatto, and S. Sastry, HSCC 2005; A. Balluchi, L. Benvenuti, M. Di Bendetto, and A. SangiovanniVincentelli, HSCC 2002.
 Week 12, March 31, April 2, 4: Tomlin Lectures 79; Tomlin, Mitchell, Bayen, Oishi, TAC 2003.
 Week 13, April 7, 9, 11: Project presentations.
Lecture Notes and Handouts
C. Tomlin, AA278A Lecture Notes, 2005.
 Lecture 1, January 7,9.
Course syllabus.
 Lecture 2, January 11.
 Lecture 3, January 14.
 Lecture 4, January 16, 18.
 Inclass notes, Jan. 21, 23, 25, 28.
 Lecture 5, January 30, February 1. Updated Feb. 4 (see Errata).
 Lecture 6, February 4, 6.
 Lecture 7, February 8, 10.
Matlab code for Slide 10.
 Lecture 8, February 11.
 Lecture 9, February 27.
Course project and Matlab code
cartdynamics.m.
 Lecture 10, February 29, March 1.
 Lecture 11, March 12, 14.
 Lecture 12, March 17.
 Lecture 13, March 31.
 Student presentations, April 7, 9, 11. Written reports due April 18.
Problem Sets
 Problem Set #1, posted January 25, due February 2 (in class or by end of day in my office).
Sample code for Problem 3, HW #1 (for graduate students).
Problem Set #1 Solutions.
 Problem Set #2, posted February 4, due February 12 (end of day).
Problem Set #2 Solutions (solutions for Problems 1 and 2 from O. Gharehshiran).
Sample code for LMI problem.
 Problem Set #3, posted March 7, due March 19. Updated Mar. 11. Problem Set #3 Solutions.
Errata
 Lecture 5, slide 27: Last bullet should read "x* is UNSTABLE if
Re(lambda_i)>0 for at least one eigenvalue of A".
 Homework 1, Problem 1: In equation (1), replace "k(x\epsilon) for
x <= \epsilon" with "k(x+\epsilon) for x <= \epsilon". In part 4, replace
"nonzero external force" with "zero external force".
 Homework 1, Problem 3: In equation (4), replace "sgn(x2)" with "+sgn(x2)".
 Homework 3, Problem 1: Part 1, the second control law should be "u = 2*x1", not "u = x1/2". Part 2, assume that there are 3 dynamics to choose from, A1 and A2 as specified in part 1, and also A3 = diag([2, 1]).
