Computation of safety control for uncertain piecewise continuous systems on a partial order

In this paper, the safety control problem for a class of hybrid systems with disturbance inputs and imperfect continuous state information is considered. Under the assumption that the system has order preserving dynamics, we provide an algorithmic procedure for computing the control map, which has linear complexity in the number of continuous variables. The structure of the control map with imperfect state information is the same as the one with perfect state information, implying separation between state estimation and control. We illustrate the proposed algorithm on a class of applications characterized by order preserving dynamics.