Control of hybrid systems via dehybridization

Presents a controller design framework for hybrid systems based on approximate continuous time models and standard continuous control techniques. The procedure has three steps: (i) designing a switching controller so that the initial hybrid system revisits one of its modes, (ii) applying a dehybridization procedure, related to singular perturbation, to eliminate all discrete states and the fast continuous states, and (iii) designing a controller for the continuous dehybridized system using standard techniques. This methodology is applied in simulation for the set point tracking of a stick-slip inertial drive.