Supervision of integral-input-to-state stabilizing controllers

João P. Hespanha, Daniel Liberzon, A. Stephen Morse

Research output: Contribution to journalArticlepeer-review


The subject of this paper is hybrid control of nonlinear systems with large-scale uncertainty. We describe a high-level controller, called a "supervisor", which orchestrates logic-based switching among a family of candidate controllers. We show that in this framework, the problem of controller design at the lower level can be reduced to finding an integral-input-to-state stabilizing control law for an appropriate system with disturbance inputs. Employing the recently introduced "scale-independent hysteresis" switching logic, we prove that in the case of purely parametric uncertainty with unknown parameters taking values in a finite set the switching terminates in finite time and state regulation is achieved.

Original languageEnglish (US)
Pages (from-to)1327-1335
Number of pages9
Issue number8
StatePublished - Aug 2002


  • Hybrid control
  • Integral-input-to-state stability
  • Modeling uncertainty
  • Nonlinear system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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