Formal and practical completion of Lagrangian hybrid systems

Yizhar Or, Aaron D. Ames
2009 2009 American Control Conference  
This paper presents a method for completing Lagrangian hybrid systems models in a formal manner. That is, given a Lagrangian hybrid system, i.e., a hybrid system that models a mechanical system undergoing impacts, we present a systematic method in which to extend executions of this system past Zeno points by adding an additional domain to the hybrid model. Moreover, utilizing results providing sufficient conditions for Zeno behavior and the stability of Zeno equilibria in Lagrangian hybrid
more » ... ms, we are able to give explicit bounds on the error incurred through the practical simulation of these completed hybrid system models. These ideas are illustrated on a series of examples, and are shown to be consistent with observed reality.
doi:10.1109/acc.2009.5159852 dblp:conf/amcc/OrA09 fatcat:3agtrl5jbvfj7h4z32zdds3rzm