Switched systems with multiple invariant sets

Michael Dorothy, Soon Jo Chung

Research output: Contribution to journalArticlepeer-review


This paper explores dwell time constraints on switched systems with multiple, possibly disparate invariant limit sets. We show that, under suitable conditions, trajectories globally converge to a superset of the limit sets and then remain in a second, larger superset. We show the effectiveness of the dwell-time conditions by using examples of switching limit cycles commonly found in robotic locomotion and flapping flight.

Original languageEnglish (US)
Pages (from-to)103-109
Number of pages7
JournalSystems and Control Letters
StatePublished - Oct 1 2016


  • Non-equilibrium steady state
  • Set-based control
  • Switched systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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