Hierarchical control design of nonlinear systems based on approximate simulation

Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. The interface construction problem is solved for a class of nonlinear systems. Moreover, with a small-gain type condition, the abstraction result is extended to interconnected systems with a sufficient condition for approximate simulation when a part of the considered system can be removed by abstraction.