We show how reachable sets of constrained continuous and simple hybrid systems may be computed using the minimum time-toreach function. We present an algorithm for computing a discrete approximation to the minimum time-to-reach function, which we prove to be a converging underapproximation to the actual function. We use the discrete minimum time-to-reach function for simple hybrid systems to co...

This paper presents a hierarchical control strategy for heat and electric power control of a building integrating hybrid renewable power sources including photovoltaic, fuel cell and battery energy storage with Plug-in Electric Vehicles (PEV) in smart distribution systems. Because of the controllability of fuel cell power, this power sources plays the main role for providing heat and electric p...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

This paper attempts to give a thorough treatment of the performance limitation of a linear time invariant multivariable system in tracking a reference signal which is a linear combination of a step signal and several sinusoids with different frequencies. The tracking performance is measured by an integral square error between the output of the plant and the reference signal. Our purpose is to f...

in the present paper, the idea of braking energy regeneration and reusing that energy during acceleration for a refuse truck is comprehended. according to their driving cycle, the refuse trucks have a good potential for braking energy regeneration. on the other hand, hydraulic hybrid is a powertrain with high power density which is appropriate for energy regeneration. in the primary stage of th...