Thermodynamic Stabilization via Energy Dissipating Hybrid Controllers

A novel class of fixed-order, energy-based hybrid controllers is proposed as a means for achieving enhanced energy dissipation in Euler-Lagrange, port-controlled Hamiltonian, and lossless dynamical systems. These dynamic controllers combine a logical switching architecture with continuous dynamics to guarantee that the system plant energy is strictly decreasing across switchings. The general framework leads to closed-loop systems described by impulsive differential equations. In addition, we construct hybrid dynamic controllers that guarantee that the closed-loop system is consistent with basic thermodynamic principles. In particular, the existence of an entropy function for the closed-loop system is established that satisfies a hybrid Clausius-type inequality. Special cases of energy-based hybrid controllers involving state-dependent switching are described.