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Class 1
Class 1
Class 1
I
Continuous
II
stakes Rn
masque
finite set
Hyena in Rn and
partly
partly in finite
set
continuous event
nifty
Co o Rm
Did
Exffenk
REZ
discrete time if the
sampling is done in equal intervals
In general update can be in any
intervals
High timegention is over continuous
time but there also discrete instants
where something special happens
eg state has a
jump
heel impact
walking
evolving continuous
but on impact change of state
happens and solution is different
convene geometry Connex
optimizations
Polytopes
optimisation
Linear programming
40s
Quadratic
Semi definite
Physics controlled by computers is
hybrid systems
Model based
approach
requirements assumptions
formally Con the
home to write unknowns
in math environment
t behaviour
d
Homolspecifications
I
2
model
If
verification Synthesis
Enampted
Requirement stability
System I An
Environment Mone no noise no
disturbance
Assumption Everything is known
perfectly
worf
Eigenvalue test
what
Lyapunov stability was told
Etfuinement stability
System READ AND
Environment Mme Cas in En
verification
Eigenvalue test assumption
stable if all eigen values are
inside the unit circle
check
how
Exampled
Requirement Stability
System W Ant Bu
Environment Mone Cas in En 1 2
Enameling
Dey
Req 1141212 Sys Payes transfer
function
from toy
Env 11811221
meriam 11Psys2511 Ed
t
Ho norm
check
Cerification of safety maybe foe
systems
and
Examples of hybrid systems and
high End
D motion with impact
maybe snooker
bouncing ball
2 Systems on network
Plant is not necessa
Decision boundary not
allowing us to swing up the pendulum
from everywhere on the state
space
Decision boundary why can't
we
swing up the pendulm from any state
Plane with a hole f pendulum
swing hole in the space what
does this even mean
a
22 9 Cuelocity
g gravity
C ELO I
restitution
coefficient of
on the air
in N2 o
Kz g if u
24 0 2290
I
and
Con the ground
and moving up
MtENDS
at on conservation of
momentum
If n o equation
and NEO