Lyapunov conditions for input-to-state stability of impulsive systems

João P. Hespanha, Daniel Liberzon, Andrew R. Teel

Research output: Contribution to journalArticlepeer-review


This paper introduces appropriate concepts of input-to-state stability (ISS) and integral-ISS for impulsive systems, i.e., dynamical systems that evolve according to ordinary differential equations most of the time, but occasionally exhibit discontinuities (or impulses). We provide a set of Lyapunov-based sufficient conditions for establishing these ISS properties. When the continuous dynamics are ISS, but the discrete dynamics that govern the impulses are not, the impulses should not occur too frequently, which is formalized in terms of an average dwell-time (ADT) condition. Conversely, when the impulse dynamics are ISS, but the continuous dynamics are not, there must not be overly long intervals between impulses, which is formalized in terms of a novel reverse ADT condition. We also investigate the cases where (i) both the continuous and discrete dynamics are ISS, and (ii) one of these is ISS and the other only marginally stable for the zero input, while sharing a common Lyapunov function. In the former case, we obtain a stronger notion of ISS, for which a necessary and sufficient Lyapunov characterization is available. The use of the tools developed herein is illustrated through examples from a Micro-Electro-Mechanical System (MEMS) oscillator and a problem of remote estimation over a communication network.

Original languageEnglish (US)
Pages (from-to)2735-2744
Number of pages10
Issue number11
StatePublished - Nov 2008


  • Impulsive systems
  • Input-to-state stability
  • Nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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