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Hybrid robust minimum-time control for a class of non-exponentially unstable planar systems

  • Author(s): Ferrante, F;
  • Sanfelice, RG
  • et al.

This paper deals with robust minimum-time control of a class of asymptotically null-controllable with bounded input planar systems. A hybrid controller is proposed to robustly achieve global finite time stability of a set of points wherein the plant state is zero. The resulting controller provides time optimal response from initial conditions in a certain subset of the state space, and finite time convergence elsewhere. Finally, the effectiveness of the proposed methods is demonstrated in a numerical example.

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