Hybrid and Switched Systems

Wherever continuous and discrete dynamics interact, hybrid systems arise. This is especially the case in many technological systems in which logic decision-making and embedded/networked control actions are combined with physical continuous processes. As these high-tech systems are becoming increasingly complex there is a strong need for a rigorous hybrid systems theory that allows the modeling, analysis and design of systems in which logic-based elements and continuous processes interact. Also for many mechanical, biological, electrical and economical systems the use of hybrid models is essential to adequately describe their behaviour. To capture the evolution of these systems, mathematical models are needed that combine in one way or another the dynamics of the continuous parts of the system with the dynamics of the logic and discrete parts.

These mathematical models come in all kinds of variations, but basically consist of some form of differential or difference equations on the one hand and automata or other discrete-event models on the other hand. The collection of analysis and synthesis techniques based on these models forms the research area of hybrid systems theory, which plays an important role in the multi-disciplinary design of many technological systems that surround us.

Throughout my research in this area a special focus has been on the following hybrid model classes:

  • Linear complementarity systems
  • Piecewise linear and piecewise affine systems
  • Switched linear systems
  • Jump-flow systems

We considered various important topics for these classes of hybrid systems. A division in subthemes are indicated below. Our papers in this area are subdivided according to these subthemes.

  • Surveys: What are the main contributions in the hybrid systems area?
  • Well-posedness and equivalence: When are hybrid systems well-posed in the sense that they produce (global / infinite) solution trajectories for initial states and inputs of interest and when are these solutions unique? When can we translate certain hybrid model classes into "equivalent" others, where equivalence refers to producing the same dynamical behaviour. ?
  • Stability, Stabilizability & Controllability: How to characterize these important system theoretic properties for hybrid systems?
  • Identification: How can we obtain accurate hybrid models based on measurement data of inputs and outputs?
  • Observer and controller design: How can we systematically design controllers and observers for systems that exhibit both continuous and discrete dynamics?
  • Model predictive control: What about MPC techniques for hybrid systems?

Our research on "reset control" has a strong relationship with "controller design for hybrid systems."

Related Publications

2018

  • Riccati-Based Design of Event-Triggered Controllers for Linear Systems with Delays

    2018
    D.P. Borgers, V.S. Dolk, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control

2017

  • On Lyapunov-Metzler inequalities and S-procedure characterisations for the stabilisation of switched linear systems

    2017
    W.P.M.H. Heemels, A. Kundu, J. Daafouz
    IEEE Transactions on Automatic Control

  • Bandwidth-on-demand motion control

    2017
    S.J.L.M. van Loon, B.G.B. Hunnekens, A.S. Simon, N. van de Wouw, W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology

  • Tradeoffs Between Quality-of-Control and Quality-of-Service in Large-Scale Nonlinear Networked Control Systems

    2017
    D.P. Borgers, R. Geiselhart, W.P.M.H. Heemels
    Nonlinear Analysis: Hybrid Systems "(special issue)" 23, p. 142–165

  • Scheduled controller design for systems with varying sensor configurations: A frequency-domain approach

    2017
    R. van der Weijst, S.J.L.M. van Loon, M.F. Heertjes, W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology

  • Output-based and Decentralized Dynamic Event-triggered Control with Guaranteed Lp-gain Performance and Zeno-freeness

    January, 2017
    V.S. Dolk, D.P. Borgers, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 62(1), p. 34-49

  • Event-triggered Control Systems under Denial-of-Service Attacks

    2017
    V.S. Dolk, P. Tesi, C. De Persis, W.P.M.H. Heemels
    IEEE Transactions on Control of Network Systems "(Full papers for Special Issue on Secure Control of Cyber Physical Systems)" 4(1), p. 93 - 105

  • Frequency-domain tools for stability analysis of reset control systems

    2017
    S.J.L.M. van Loon, K. Gruntjens, M.F. Heertjes, N. van de Wouw, W.P.M.H. Heemels
    Automatica

  • Linear Quadratic Regulation of Switched Systems Using Informed Policies

    2017
    D. Antunes, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control

  • Computation of Periodic Solutions in Maximal Monotone Dynamical Systems with Guaranteed Consistency

    2017
    W. P. M. H. Heemels, V. Sessa, F. Vasca, M. K. Camlibel
    Nonlinear Analysis: Hybrid Systems 24, p. 100-114

  • Stability and Performance Analysis of Spatially Invariant Systems with Networked Communication

    October, 2017
    S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control

  • Set-point Control of Motion Systems with Uncertain Set-valued Stribeck Friction

    2017
    R. Beerens, H. Nijmeijer, W.P.M.H. Heemels, N. van de Wouw
    IFAC World Congress 2017, Toulouse, France

  • Suboptimal Event-triggered Control over Unreliable Communication Links with Experimental Validation

    May, 2017
    B. Asadi Khashooei, B. van Eekelen, D. J. Antunes and W. P. M. H. Heemels
    3rd International Conference on Event-based Control, Communication and Signal Processing 2017, Madeira, Portugal

  • Stabilization of discrete-time switched linear systems: Lyapunov-Metzler inequalities versus S-procedure characterizations

    2017
    A. Kundu, J. Daafouz, W.P.M.H. Heemels
    IFAC World Congress 2017, Toulouse, France

  • Switched control of a SCARA robot with shared actuation resources

    2017
    A. van der Maas*, Y. Steinbuch, A. Boverhof, W.P.M.H. Heemels
    IFAC World Congress 2017, Toulouse, France

  • Dynamic Periodic Event-Triggered Control for Linear Systems

    2017
    D.P. Borgers, V.S. Dolk and W.P.M.H. Heemels
    Hybrid Systems: Computation and Control (HSCC) 2017, Pittsburgh, USA

  • Filtered Split-Path Nonlinear Integrator (F-SPANI) for Improved Transient Performance (Invited Paper)

    2017
    A. van der Maas, N. Van De Wouw, W.P.M.H. Heemels
    American Control Conference 2017, Seattle (WA), USA.

  • Hybrid Integrator Design for Enhanced Tracking in Motion Control (Invited Paper)

    2017
    D.A. Deenen, M. Heertjes, W.P.M.H. Heemels, H. Nijmeijer
    American Control Conference 2017, Seattle (WA), USA.

2016

  • The impact of deadline misses on the control performance of high-end motion control systems

    2016
    W. Geelen, D. Antunes, J.P.M. Voeten, R.R.H. Schiffelers, W.P.M.H. Heemels
    IEEE Transactions on Industrial Electronics 63(2), p. 1218-1229

  • Split-Path Nonlinear Integral Control for Transient Performance Improvement

    April, 2016
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. van de Wouw, H. Nijmeijer
    Automatica 66, p. 262-270

  • L2-gain Analysis for a Class of Hybrid Systems with Applications to Reset and Event-triggered Control: A Lifting Approach

    October, 2016
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Transactions on Automatic Control 61(10), p. 2766-2781

  • Distance function design and Lyapunov techniques for the stability of hybrid trajectories

    2016
    J. J.B. Biemond, W.P.M.H. Heemels, R. Sanfelice, N. van de Wouw
    Automatica 73, p. 38-46

  • Solution Concepts and Analysis of SpatiallyInvariant Hybrid Systems: Exploring Zeno and beyond

    2016
    S.H.J. Heijmans ,? D.P. Borgers,? W.P.M.H. Heemels
    10th IFAC Symposium on Nonlinear Control Systems (NOLCOS) 2016. Monterey, California, USA "IFAC Papers Online 49-18", p. 164-169

  • Constructions of Lyapunov Functions for Large-scale Networked Control Systems with Packet-based Communication (Invited Paper)

    2016
    W.P.M.H. Heemels, D.P. Borgers, V.S. Dolk, R. Geiselhart, S.H.J. Heijmans
    European Control Conference (ECC) 2016, Aalborg, DK, p. 936-938

2015

  • Robust Global Stabilization of the DC-DC Boost Converter via Hybrid Control

    April, 2015
    T.A.F. Theunisse, J. Chai, R.G. Sanfelice, and W.P.M.H. Heemels
    IEEE Transactions on Circuits and Systems 62(4), p. 1052-1061

  • A lifting approach to L2-gain analysis of periodic event-triggered and switching sampled-data control systems (invited paper)

    2015
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 4176 - 4182

  • On Observability in Networked Control Systems with Packet Losses

    2015
    R.M. Jungers, A. Kundu, W.P.M.H. Heemels
    Annual Allerton Conference on Communication, Control, and Computing 2015, Urbana-Champaign, USA, p. 238-243

  • Dynamic event-triggered control under packet losses: The case with acknowledgements

    2015
    Dolk, V.S. and Heemels, W.P.M.H.
    International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP), p. 1-7

  • Switching data-processing methods for feedback control: Breaking the speed versus accuracy trade-off

    2015
    E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 2313 - 2318

  • Stability Analysis of Spatially Invariant Interconnected Systems with Networked Communication

    2015
    S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels
    IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 221-226)", p. 221-226

  • Constructing distance functions and piecewise quadratic Lyapunov functions for stability of hybrid trajectories

    2015
    J. J.B. Biemond, W.P.M.H. Heemels, R.G. Sanfelice, N. Van De Wouw
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 2252 - 2257

  • Scheduled Controller Design for Systems with Two Switching Sensor Configurations: A Frequency-Domain Approach

    2015
    S.J.L.M. van Loon, R. van der Weijst, M. Heertjes, W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2015, Atlanta, USA. "(IFAC-PapersOnLine, Volume 48, Issue 27, 2015, Pages 99-104)", p. 99-104

  • Controllability of Linear Systems Subject to Packet Losses

    2015
    R.M. Jungers and W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2015, Atlanta, USA. "(IFAC-PapersOnLine, Volume 48, Issue 27, 2015)", p. 80-85

  • Definitions of incremental stability for hybrid systems (invited paper)

    2015
    R. Postoyan, J.J.B. Biemond, W.P.M.H. Heemels, N. Van De Wouw
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 5544 - 5549

2014

  • Stabilizing Dynamic Control Design for Hybrid Systems: A Hybrid Control Lyapunov Function Approach

    May, 2014
    S. Di Cairano, W.P.M.H. Heemels, M. Lazar, A. Bemporad
    IEEE Transactions on Automatic Control 59(10), p. 2629-2643

  • Transient Performance Improvement of Linear Systems Using a Split-Path Nonlinear Integrator

    June, 2014
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. Van De Wouw and H. Nijmeijer
    American Control Conference (ACC) 2014, Portland, Oregon, p. 341-346

  • Root-locus Analysis for Randomly-Sampled Systems

    June, 2014
    D. Antunes and W.P.M.H. Heemels
    European Control Conference (ECC) 2014, Strasbourg, France, p. 1619-1624

  • Time-stepping Methods for Constructing Periodic Solutions in Maximally Monotone Set-valued Dynamical Systems

    December, 2014
    W. P. M. H. Heemels, V. Sessa, F. Vasca and M. K. Camlibel
    IEEE Conference on Decision and Control (CDC) 2014, Los Angeles, USA, p. 3095-3100

  • Improved L2-gain analysis for a class of hybrid systems with applications to reset and event-triggered control

    December, 2014
    S.J.L.M. van Loon, W.P.M.H. Heemels and A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2014, Los Angeles, USA, p. 1221-1226

  • Performance Analysis of a Class of Linear Quadratic Regulators for Switched Linear Systems

    December, 2014
    D. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2014, Los Angeles, USA, p. 5475-5480

  • Analyzing the non-smooth dynamics induced by a split-path nonlinear integral controller

    July, 2014
    S.J.L.M. van Loon, B. Hunnekens, W.P.M.H. Heemels, N. Van De Wouw and H. Nijmeijer
    ENOC 2014, Vienna

  • Control of Mixing and Oscillations in Plasmas and Fluids

    September, 2014
    M. Lauret
    Eindhoven University of Technology

2013

  • An embedding approach for the design of state-feedback tracking controllers for references with jumps

    January, 2013
    R.G. Sanfelice, J.J.B. Biemond, N van de Wouw and W.P.M.H. Heemels
    International Journal of Robust and Nonlinear Control 24, p. 1585-1608

  • Switching Control in Vibration Isolation Systems

    March, 2013
    M.F. Heertjes, I.H. Sahin, N. van de Wouw and W.P.M.H. Heemels
    IEEE Transactions on Control Systems Technology 21(3), p. 626-635

  • Tracking Control for Hybrid Systems with State-Triggered Jumps

    April, 2013
    J.J.B. Biemond, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    IEEE Transactions on Automatic Control 58(4), p. 876-890

  • Special issue on analysis and design of hybrid and networked control systems

    November, 2013
    W.P.M.H. Heemels and B. De Schutter
    Nonlinear Analysis: Hybrid Systems 10(C), p. 1-3

  • Controllability of a class of bimodal discrete-time piecewise linear systems

    April, 2013
    E. Yurtseven, M.K. Camlibel, and W.P.M.H. Heemels
    Systems and Control Letters 62(4), p. 338-344

  • Further Input-to-State Stability Subtleties for Discrete-time Systems

    June, 2013
    M. Lazar, W.P.M.H. Heemels, and A.R. Teel
    IEEE Transactions on Automatic Control 58(6), p. 1609-1613

  • Further Input-to-State Stability Subtleties for Discrete-Time Systems

    June, 2013
    M. Lazar, W.P.M.H. Heemels, and A.R. Teel
    IEEE Transactions on Automatic Control 58(6), p. 1609-1613

  • Controllability of a Class of Bimodal Discrete-Time Piecewise Linear Systems

    July, 2013
    E. Yurtseven, M.K. Camlibel, and W.P.M.H. Heemels
    European Control Conference (ECC) 2013, Zurich, Switzerland to appear, p. 1663-1668

  • Hybrid Control Lyapunov Functions for Stabilization of Hybrid Systems

    April, 2013
    S. Di Cairano, W.P.M.H. Heemels, M. Lazar and A. Bemporad
    Hybrid Systems: Computation and Control (HSCC) 2013, Philadelphia, USA, p. 73-82

  • Observer design for a class of piecewise affine hybrid systems

    April, 2013
    D. van Zwieten, E. Lefeber and W.P.M.H. Heemels
    Hybrid Systems: Computation and Control (HSCC) 2013, Philadelphia, USA, p. 153-162

  • Hybrid Control of the Boost Converter: Robust Global Stabilization

    December, 2013
    T.A.F. Theunisse, R.G. Sanfelice, J. Chai and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 3635-3640

2012

  • FPGA implementations of piecewise affine functions based on multi-resolution hyper-rectangular partitions

    December, 2012
    F. Comaschi, B.A.G. Genuit, A. Oliveri, W.P.M.H. Heemels and M. Storace
    IEEE Transactions on Circuits and Systems 59(12), p. 2920-2933

  • Disturbance Decoupling of Switched Linear Systems

    January, 2012
    E. Yurtseven, W.P.M.H. Heemels and M.K. Camlibel
    Systems and Control Letters 61(1), p. 69-78

  • Tracking control of mechanical systems with impacts

    June, 2012
    J.J.B. Biemond, N. Van De Wouw, W.P.M.H. Heemels and H. Nijmeijer
    American Control Conference (ACC) 2012, Montreal, Canada, p. 258-263

  • Tracking control of mechanical systems with a unilateral position constraint inducing dissipative impacts

    December, 2012
    J.J.B. Biemond, N. van De Wouw, W.P.M.H. Heemels, R.G. Sanfelice, and H. Nijmeijer
    IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 4223-4228

  • Proceedings of the 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS12). Eindhoven, The Netherlands

    June, 2012
    W.P.M.H. Heemels, B. De Schutter, and M. Lazar (Eds.)
    International Federation of Automatic Control (IFAC) "Analysis and Design of Hybrid Systems book link"

2011

  • Reconfigurable Control of Piecewise Affine Systems with Actuator and Sensor Faults: Stability And Tracking

    April, 2011
    J. Richter, W.P.M.H. Heemels, N. van de Wouw, J. Lunze
    Automatica 47(4), p. 678-691

  • Observer-based control of linear complementarity systems

    2011
    W.P.M.H. Heemels, M.K. Camlibel, J.M. Schumacher and B. Brogliato
    International Journal of Robust and Nonlinear Control "Special Issue: Hybrid Systems" 21(10), p. 1193-1218

  • Tracking Control for Hybrid Systems via Embedding of Known Reference Trajectories

    June, 2011
    R.G. Sanfelice, J.J.B. Biemond, N. van de Wouw, and W.P.M.H. Heemels
    American Control Conference (ACC) 2011, San Francisco, USA, p. 869-874

  • Low-complexity Approximations of PWA Functions: a Case Study on Adaptive Cruise Control

    August, 2011
    A. Oliveri, G.J.L. Naus, M. Storace and W.P.M.H. Heemels
    European conference on circuit theory and design (ECCTD) 2011, Linköping, Sweden, p. 694-697

2010

  • Observer-Based Control of Discrete-Time LPV Systems with Uncertain Parameters

    May, 2010
    W.P.M.H. Heemels, J. Daafouz and G. Millerioux
    IEEE Transactions on Automatic Control 55(9), p. 2130-2135

  • Stability analysis and controller synthesis for hybrid dynamical systems

    October, 2010
    W.P.M.H. Heemels, B. De Schutter, J. Lunze and M. Lazar
    Philosophical Transactions of the Royal Society A 368(193), p. 4937-4960

  • Performance analysis of reset control systems

    June, 2010
    W. Aangenent, G. Witvoet, W.P.M.H. Heemels. M.J.G. van de Molengraft, M. Steinbuch
    International Journal of Robust and Nonlinear Control 20(11), p. 1213-1233

  • A disturbance attenuation approach for continuous piecewise affine systems: Control design and experiments

    June, 2010
    A. Doris, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    ASME Journal of Dynamic Systems, Measurement and Control 132(4), p. 044502

  • Disturbance Decoupling of Switched Linear Systems

    December, 2010
    E. Yurtseven, W.P.M.H. Heemels and M.K. Camlibel
    IEEE Conference on Decision and Control (CDC) 2010, Atlanta, USA, p. 6475-6480

  • Further Input-to-State Stability Subtleties for Discrete-time Systems

    September, 2010
    M. Lazar, W.P.M.H. Heemels and A.R. Teel
    UKACC International Conference on Control 2010, Coventry, UK "(invited paper)"

2009

  • Control of mechanical motion systems with non-collocation of actuation and friction: a Popov criterion approach for input-to-state stability and set-valued nonlinearities

    February, 2009
    J.C.A. de Bruin, A. Doris, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    Automatica 45(2), p. 405-415

  • Predictive control of hybrid systems: Input-to-state stability results for sub-optimal solutions

    January, 2009
    M. Lazar and W.P.M.H. Heemels
    Automatica 45(1), p. 180-185

  • Lyapunov functions, stability and input-to-state stability subtleties for discrete-time discontinuous systems

    September, 2009
    M. Lazar, W.P.M.H. Heemels and A.R. Teel
    IEEE Transactions on Automatic Control 54(10), p. 2421-2425

  • Observer design for Lur'e systems with multivalued mappings: a passivity approach

    July, 2009
    B. Brogliato and W.P.M.H. Heemels,
    IEEE Transactions on Automatic Control 54(8), p. 1996-2001

  • Decoupling-based reconfigurable control of linear systems after actuator faults

    August, 2009
    J.H. Richter, S. Weiland, W.P.M.H. Heemels and J. Lunze
    European Control Conference (ECC) 2009, Budapest, Hungary

  • Chapter 5: Further switched systems

    2009
    A. Bemporad, M.K. Camlibel, W.P.M.H. Heemels, A. J. van der Schaft, J.M. Schumacher and B. De Schutter
    in "HYCON Handbook of Hybrid Systems Control Theory-Tools-Applications", Cambridge University Press, p. 139-192

  • Chapter 2: Survey of modelling, analysis and control of hybrid systems

    2009
    B. De Schutter, W.P.M.H. Heemels, J. Lunze and C. Prieur
    in "HYCON Handbook of Hybrid Systems Control Theory-Tools-Application", Cambridge University Press, p. 31-55

  • Chapter 1: Introduction

    2009
    W.P.M.H. Heemels, D. Lehmann, J. Lunze and B. De Schutter
    in "HYCON Handbook of Hybrid Systems Control Theory-Tools-Applications ", Cambridge University Press, p. 3-30

2008

  • Input-to-state stability and interconnections of discontinuous dynamical systems

    December, 2008
    W.P.M.H. Heemels and S. Weiland
    Automatica 44(12), p. 3079-3086

  • Observer designs for experimental non-smooth and discontinuous systems

    August, 2008
    A. Doris, A.Lj. Juloski, N. Mihajlovic, W.P.M.H. Heemels, N. van de Wouw and H. Nijmeijer
    IEEE Transactions on Control Systems Technology 16(6), p. 1323-1332

  • Global input-to-state stability and stabilization of discrete-time piecewise affine systems

    August, 2008
    M. Lazar and W.P.M.H. Heemels
    Nonlinear Analysis: Hybrid Systems 2(3), p. 721-734

  • On robustness of constrained discrete-time systems to state measurement errors

    April, 2008
    B.J.P. Roset, W.P.M.H. Heemels, M. Lazar and H. Nijmeijer
    Automatica 44(4), p. 1161-1165

  • Robust control of piecewise linear systems: a case study in sheet flow control

    August, 2008
    J.J.T.H. de Best, B.H.M. Bukkems, M.J.G. van de Molengraft, W.P.M.H. Heemels and M. Steinbuch
    Control Engineering Practice 16(8), p. 991-1003

  • Algebraic necessary and sufficient conditions for the controllability of conewise linear systems

    April, 2008
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    IEEE Transactions on Automatic Control 53(3), p. 762-774

  • A full characterization of stabilizability of bimodal piecewise linear systems with scalar inputs

    May, 2008
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    Automatica 44(5), p. 1261-1267

  • Observer-based control of discrete-time piecewise affine systems: Exploiting continuity twice

    December, 2008
    W.P.M.H. Heemels, M. Lazar, N. van de Wouw and A.V. Pavlov
    IEEE Conference on Decision and Control (CDC) 2008, Cancun, Mexico, p. 4675-4680

  • Output-feedback control of Lur’e-type systems with set-valued nonlinearities: a Popov-criterion approach

    June, 2008
    N. van de Wouw, A. Doris, J. de Bruijn, W.P.M.H. Heemels and H. Nijmeijer
    American Control Conference (ACC) 2008, Seattle, USA, p. 2316-2321

  • Reconfigurable control of PWA systems with actuator and sensor faults: stability

    December, 2008
    J.H. Richter, W.P.M.H. Heemels, N. van de Wouw and J. Lunze
    IEEE Conference on Decision and Control (CDC) 2008, Cancun, Mexico, p. 1060-1065

  • Predictive control of hybrid systems: Stability results for suboptimal solutions

    July, 2008
    M. Lazar and W.P.M.H. Heemels
    IFAC World Congress 2008, Seoul, Korea, p. 11196-1120

  • Switching control in active vibration isolation

    July, 2008
    M.F. Heertjes, N. van de Wouw and W.P.M.H. Heemels
    ENOC 2008, Saint-Petersburg, Russia, p. 1-6

  • Tracking control for piecewise linear systems using an error space approach: A case-study in sheet control

    June, 2008
    B.H.M. Bukkems, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    American Control Conference (ACC) 2008, Seattle, USA, p. 3343-3349

  • An LMI-based L2 gain performance analysis for reset control systems

    June, 2008
    W.H.T.M. Aangenent, G. Witvoet, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    American Control Conference (ACC) 2008, Seattle, USA, p. 2310-2315

  • A Control Lyapunov Approach to Predictive Control of Hybrid Systems

    2008
    S. Di Cairano, M. Lazar, A. Bemporad and W.P.M.H. Heemels
    in "Lecture Notes in Computer Science. 11th International Workshop on Hybrid Systems: Computation and Control 2008, St. Louis, USA", Springer, p. 130-143

  • Observer-based control of linear complementarity systems

    2008
    W.P.M.H. Heemels, M.K. Camlibel, B. Brogliato and J.M. Schumacher
    in "Lecture Notes in Computer Science. 11th International Workshop on Hybrid Systems: Computation and Control 2008", Springer, p. 259-272

2007

  • Observer design for a class of piecewise linear systems

    August, 2007
    A.Lj. Juloski, W.P.M.H. Heemels and S. Weiland
    International Journal of Robust and Nonlinear Control 17(15), p. 1387-1404

  • Assessment of nonlinear predictive control techniques for DC-DC converters

    August, 2007
    A.G. Beccuti, M. Lazar, W.P.M.H. Heemels, G. Papafotiou and M. Morari
    NOLCOS 2007, Pretoria, South-Africa

  • Design of stabilizing output feedback nonlinear model predictive controllers with an application to DC-DC converters

    July, 2007
    B.J.P. Roset, M. Lazar, W.P.M.H. Heemels and H. Nijmeijer
    European Control Conference (ECC) 2007, Kos, Greece, p. 2999-3004

  • Output feedback control for a class of piecewise linear systems

    June, 2007
    A.L. Juloski, W.P.M.H. Heemels and S. Weiland
    American Control Conference (ACC) 2007, New York, USA, p. 1383-1388

  • H2 performance analysis of reset control systems

    December, 2007
    G. Witvoet, W.H.T.M. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 3278-3284

  • Subtleties in stability of discrete-time piecewise affine systems

    June, 2007
    M. Lazar, W.P.M.H. Heemels and A.R. Teel
    American Control Conference (ACC) 2007, New York, USA, p. 3464-3469

  • On interconnections of discontinuous dynamical systems: an input-to-state stability approach

    December, 2007
    W.P.M.H. Heemels and S. Weiland
    IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 109-114

  • Discrete-time non-smooth nonlinear MPC: Stability and input-to-state stability

    2007
    M. Lazar, W.P.M.H. Heemels, A. Bemporad and S. Weiland
    in "Lecture Notes in Control and Information Sciences, Assessment and Future Directions of Nonlinear Model Predictive Control", Springer, p. 93-109

  • Input-to-state stability of discontinuous dynamical systems with an observer-based control application

    2007
    W.P.M.H. Heemels, S. Weiland and A.Lj. Juloski
    in "Lecture Notes in Computer Science. 10th International Workshop on Hybrid Systems: Computation and Control 2007, Pisa, Italy", Springer, p. 259-272

  • Output-feedback Design for Non-Smooth Mechanical Systems: Control Synthesis and Experiments

    2007
    A. Doris
    Eindhoven University of Technology "PhD Thesis"

2006

  • Stabilizing Model Predictive Control of Hybrid Systems

    November, 2006
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    IEEE Transactions on Automatic Control 51(11), p. 1813-1818

  • Observer design for an experimental rotor system with discontinuous friction

    June, 2006
    A.L. Juloski, N. Mihajlovic, W.P.M.H. Heemels, N. van de Wouw and H. Nijmeijer
    American Control Conference (ACC) 2006, Minneapolis, USA, p. 2886-2891

  • A new dual-mode hybrid MPC algorithm with a robust stability guarantee

    June, 2006
    M. Lazar and W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2006, Alghero, Italy, p. 321-328

  • A piecewise linear approach towards sheet control in a printer paper path

    June, 2006
    B.H.M. Bukkems, M.J.G van de Molengraft, W.P.M.H. Heemels, N. van de Wouw and M. Steinbuch
    American Control Conference (ACC) 2006, Minneapolis, USA, p. 1315-1320

  • Global input-to-state stability and stabilization of discrete-time piecewise affine uncertain systems

    June, 2006
    M. Lazar and W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2006, Alghero, Italy

  • Stabilizability of bimodal piecewise linear systems with continuous vector field

    June, 2006
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2006, Alghero, Italy, p. 290-295

  • A hybrid MPC approach to the design of a Smart adaptive cruise controller

    October, 2006
    D. Corona, M. Lazar, B. De Schutter and W.P.M.H. Heemels
    International Conference on Control Applications (CCA) 2006, Munich, Germany, p. 231-236

  • Model Predictive Control of Hybrid Systems: Stability and Robustness

    2006
    M. Lazar
    Eindhoven University of Technology "PhD Thesis"

2005

  • A Bayesian approach to identification of hybrid systems

    October, 2005
    A.Lj. Juloski, S. Weiland and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 50(10), p. 1520-1533

  • On the stability of quadratic forms based model predictive control of constrained PWA systems

    June, 2005
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    American Control Conference (ACC) 2005, Portland, USA, p. 575-580

  • Observer design for Lur’e systems with multi-valued mappings

    July, 2005
    W.P.M.H. Heemels, A.L. Juloski and B. Brogliato
    IFAC World Congress on Automatic Control 2006, Prague

  • On the stability and robustness of non-smooth nonlinear model predictive control

    2005
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    International Workshop on Assessment and Future Directions of Nonlinear MPC 2005, Freudenstadt-Lauterbad, Germany, p. 3-10

  • Control of PWA systems using a stable receding horizon method

    July, 2005
    I. Necoara, B. De Schutter, W.P.M.H. Heemels, S. Weiland, M.. Lazar and T.T.J. van den Boom
    IFAC World Congress on Automatic Control 2006, Prague

  • Switching observer design for an experimental piecewise-linear beam system

    July, 2005
    A. Doris, A.L. Juloski, W.P.M.H. Heemels, N. van de Wouw and H. Nijmeijer
    IFAC World Congress on Automatic Control 2006, Prague

  • Comparison of Four Procedures for Identification of Hybrid Systems

    2005
    A.Lj. Juloski, W.P.M.H. Heemels, G. Ferrari - Trecate, R. Vidal, S. Paoletti and J.H.G. Niessen
    in " Hybrid Systems: Computation and Control 2005, Lecture Notes on Computer Science", Springer 3141, p. 354-369

  • Infinity norms as Lyapunov functions for model predictive control of constrained PWA systems

    2005
    M. Lazar, W.P.M.H. Heemels, S. Weiland, A. Bemporad and O. Pastravanu
    in "Hybrid Systems: Computation and Control 2005, Lecture Notes in Computer Science", Springer 3414, p. 417-432

2004

  • Data-based hybrid modeling of the component placement process in pick-and-place machines

    October, 2004
    A.Lj. Juloski, W.P.M.H. Heemels and G. Ferrari - Trecate
    Control Engineering Practice 12(10), p. 1241-1252

  • A Bayesian approach to identification of hybrid systems

    December, 2004
    A.L. Juloski, S. Weiland and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2004, Bahamas, p. 13-19

  • Stabilizing receding horizon control of piecewise linear systems

    2004
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2004, Leuven, Belgium

  • Stabilization conditions for model predictive control of constrained PWA systems

    December, 2004
    M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
    IEEE Conference on Decision and Control (CDC) 2004, Bahamas, p. 4595-4600

  • Comparison of three procedures for the identification of hybrid systems

    September, 2004
    J.H.G. Niessen, A.L. Juloski, G. Ferrari-Trecate and W.P.M.H. Heemels
    IEEE Conference on Control Applications 2004, Taiwan, p. 643-648

  • On the controllability of bimodal piecewise linear systems

    2004
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    in "Hybrid Systems: Computation and Control, LNCS", Springer 2993, p. 250-264

  • Well-posedness of Hybrid Systems

    2004
    M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft and J.M. Schumacher
    in "Encyclopedia of Life Support Systems (EOLSS)", EOLSS Publishers, Oxford,UK

  • Observer Design and Identification Methods for Hybrid Systems: Theory and Experiments

    2004
    A. Lj. Juloski
    Eindhoven University of Technology "PhD Thesis"

2003

  • The complementarity class of hybrid dynamical systems

    2003
    W.P.M.H. Heemels and B. Brogliato
    European Journal of Control 9(2-3), p. 322-360

  • Switched networks and complementarity

    August, 2003
    M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft and J.M. Schumacher
    IEEE Transactions on Circuits and Systems "I: Fundamental Theory and Applications" 50(8), p. 1036-1046

  • On solution concepts and well-posedness of linear relay systems

    December, 2003
    A.Y. Pogromsky, W.P.M.H. Heemels and H. Nijmeijer
    Automatica 39(12), p. 2139-2147

  • Control of quantized systems based on discrete event models

    2003
    P.P.H.H. Philips, W.P.M.H. Heemels, H. Preisig and P.P.J. van den Bosch
    International Journal of Control 76(3), p. 277-294

  • State estimation for systems with varying sampling rates

    December, 2003
    M. Schinkel, W.P.M.H. Heemels and A.L. Juloski
    IEEE Conference on Decision and Control (CDC) 2003, Hawaii, USA, p. 143-148

  • Identification of an experimental hybrid system

    2003
    A.L. Juloski, W.P.M.H. Heemels and G. Ferrari-Tracate
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2003, St. Malo, France, p. 46-51

  • Stability and controllability of bimodal planar linear complementarity systems

    December, 2003
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    IEEE Conference on Decision and Control (CDC) 2003, Hawaii, USA, p. 1651-1656

  • A multi-target track before detect application

    2003
    Y. Boers, J.N. Driessen, F. Verschure, W.P.M.H. Heemels and A.L. Juloski
    Conference on Computer Vision and Pattern Recognition Workshop, 2003, p. 104-104

  • Two approaches to state estimation for a class of piecewise affine systems

    December, 2003
    A.L. Juloski, W.P.M.H. Heemels, Y. Boers and F. Verschure
    IEEE Conference on Decision and Control (CDC) 2003, Hawaii, USA, p. 143-148

  • A semi-explicit MPC set-up for constrained piecewise affine systems

    2003
    M. Lazar and W.P.M.H. Heemels
    European Control Conference (ECC) 2003, Cambridge, U.K.

  • On the existence and uniqueness of solution trajectories to hybrid dynamical systems

    2003
    W.P.M.H. Heemels, M.K. Camlibel, A.J. van der Schaft and J.M. Schumacher
    in "Nonlinear and Hybrid Control in Automotive Applications", Springer, p. 391-422

  • Modelling, well-posedness, and stability of switched electrical networks

    2003
    W.P.M.H. Heemels, M.K. Camlibel, A.J. van der Schaft and J.M. Schumacher
    in "Hybrid Systems: Computation and Control, Lecture Notes in Computer Science", Springer 2623, p. 249-266

2002

  • Positive feedback stabilization of centrifugal compressor surge

    February, 2002
    F.P.T. Willems, W.P.M.H. Heemels, A.G. de Jager and A.A. Stoorvogel
    Automatica 38(2), p. 311-318

  • On hybrid systems and closed-loop MPC systems

    May, 2002
    A. Bemporad, W.P.M.H. Heemels and B. De Schutter
    IEEE Transactions on Automatic Control 47(5), p. 863-869

  • On the dynamic analysis of piecewise linear networks

    March, 2002
    W.P.M.H. Heemels, M.K. Camlibel and J.M. Schumacher
    IEEE Transactions on Circuits and Systems "I: Fundamental Theory and Applications" 49(3), p. 315-327

  • On linear passive complementarity systems

    2002
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    European Journal of Control 8(3), p. 220-237

  • Note on the equivalence of linear complementarity problems

    2002
    B. De Schutter, W.P.M.H. Heemels and A. Bemporad
    Operations Research Letters 30(4), p. 211-222

  • Max-plus-algebraic problems and the extended linear complementarity problem — algorithmic aspects

    2002
    B. De Schutter, W.P.M.H. Heemels and A. Bemporad
    IFAC World Congress 2002, Barcelona, Spain

  • Well-posedness of the complementarity class of hybrid systems

    2002
    W.P.M.H. Heemels, M.K. Camlibel, A.J. van der Schaft and J.M. Schumacher
    IFAC World Congress 2002, Barcelona, Spain

  • Solution concepts for hybrid dynamical systems

    2002
    M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft and J.M. Schumacher
    IFAC World Congress 2002, Barcelona, Spain

  • On switched Hamiltonian systems

    2002
    K.M. Gerritsen, A.J. van der Schaft and W.P.M.H. Heemels
    International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2002, South Bend, USA

  • On the observer design for a class of piecewise affine systems

    December, 2002
    A.L. Juloski, W.P.M.H. Heemels and S. Weiland
    IEEE Conference on Decision and Control (CDC) 2002, Las Vegas, USA, p. 2606-2611

2001

  • On event driven simulation of electrical circuits with ideal diodes

    2001
    W.P.M.H. Heemels, M.K. Camlibel and J.M. Schumacher
    Journal Européen des Systèmes Automatisés 35(4), p. 467-488

  • Equivalence of hybrid dynamical models

    July, 2001
    W.P.M.H. Heemels, B. De Schutter and A. Bemporad
    Automatica 37(7), p. 1085-1091

  • On well-posedness of relay systems

    2001
    A.Yu. Pogromsky, W.P.M.H. Heemels and H. Nijmeijer
    Nonlinear Control Systems (NOLCOS) 2001, Saint-Petersburg, Russia

  • On hybrid systems and closed-loop MPC systems

    December, 2001
    A. Bemporad, W.P.M.H. Heemels and B. De Schutter
    IEEE Conference on Decision and Control (CDC) 2001, Orlando, USA, p. 1645-1649

  • On the relation between classes of hybrid dynamical models

    December, 2001
    W.P.M.H. Heemels, B. De Schutter and A. Bemporad
    IEEE Conference on Decision and Control (CDC) 2001, Orlando, USA, p. 364-369

  • Modelling, Control and Fault Detection of Discretely-Observed Systems

    2001
    P.P.H.H. Philips
    Eindhoven University of Technology "PhD Thesis"

2000

  • Projected dynamical systems in a complementarity formalism

    2000
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    Operations Research Letters 27(2), p. 83-91

  • Linear complementarity systems

    2000
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    SIAM Journal on Applied Mathematics 60(4), p. 1234-1269

  • Continuity of smooth approximations of complementarity systems

    2000
    M.K. Camlibel, M.K.K. Cevik, W.P.M.H. Heemels and J.M. Schumacher
    Workshop on Systems with Time-Domain Constraints 2000, Eindhoven, The Netherlands

  • From Lipschitzian to non-Lipschitzian characteristics: continuity of behaviors

    December, 2000
    M.K. Camlibel, M.K.K. Cevik, W.P.M.H. Heemels and J.M. Schumacher
    IEEE Conference on Decision and Control (CDC) 2000, Sydney, Australia, p. 4373-4378

  • A time-stepping method for relay systems

    December, 2000
    W.P.M.H. Heemels, M.K. Camlibel and J.M. Schumacher
    IEEE Conference on Decision and Control (CDC) 2000, Sydney, Australia, p. 4461-4466

  • On time-stepping methods for linear passive networks with ideal diodes

    2000
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    Workshop on Systems with Time-Domain Constraints 2000, Eindhoven, The Netherlands

  • Linear complementarity systems: modelling power and well-posedness

    2000
    W.P.M.H. Heemels, M.K. Camlibel, S. Weiland and J.M. Schumacher
    Workshop on Systems with Time-Domain Constraints 2000, Eindhoven, The Netherlands

  • Simulation of linear networks with ideal diodes: consistency of a time-stepping method

    2000
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    Conference on Automation of Mixed Processes: Hybrid Dynamic Systems 2000, Dortmund, Germany

  • Well-posedness of a class of linear networks with ideal diodes

    2000
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2000, Perpignan, France

1999

  • Hybrid systems: modelling embedded controllers

    1999
    P.P.J. van den Bosch and W.P.M.H. Heemels
    Journal A 40(4), p. 28-34

  • The Rational Complementarity Problem

    1999
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    Linear Algebra and its Applications 294, p. 93-135

  • Positive feedback stabilization of surge in a centrifugal compressor

    December, 1999
    F. Willems, W.P.M.H. Heemels, B. de Jager and A.A. Stoorvogel
    IEEE Conference on Decision and Control (CDC) 1999, Phoenix, USA, p. 3295-3300

  • Well-posedness of linear complementarity systems

    December, 1999
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    IEEE Conference on Decision and Control (CDC) 1999, Phoenix, USA, p. 3037-3042

  • Applications of complementarity systems

    1999
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    European Control Conference (ECC) 1999, Karlsruhe, Germany

  • The nature of solutions to linear passive complementarity systems

    December, 1999
    M.K. Camlibel, W.P.M.H. Heemels and J.M. Schumacher
    IEEE Conference on Decision and Control (CDC) 1999, Phoenix, USA, p. 3043-3042

  • Linear complementarity systems: a study in hybrid systems

    1999
    W.P.M.H. Heemels (supervised by Hans Schumacher, Siep Weiland and Paul van den Bosch)
    Eindhoven University of Technology "PhD Thesis"

1998

  • Dissipative systems and complementarity conditions

    December, 1998
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    IEEE Conference on Decision and Control (CDC) 1998, Tampa, USA, p. 4127-4132

  • Mode selection in linear complementarity systems

    1998
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    IFAC Conference on System Structure and Control (SSC) 1998, Nantes, France

  • Complementarity problems in linear complementarity systems

    June, 1998
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    American Control Conference (ACC) 1998, Philadelphia, USA, p. 706-710

1997

  • Complete description of dynamics in the linear complementary-slackness class of hybrid systems

    December, 1997
    W.P.M.H. Heemels, J.M. Schumacher and S. Weiland
    IEEE Conference on Decision and Control (CDC) 1997, San Diego, USA, p. 1243-1248