The book arises out of a growing awareness of the need to study hybrid systems which mix continuous dynamic behaviour with discrete events. This is driven by the increasing occurrence of large complex systems coupled with a demand to improve reliability and performance of such systems. However, at present no tools exist to analyse and design these types of system other than simulation, prototyping and engineering experience. One important class of hybrid systems is that of piecewise linear dynamical systems, as these encompass systems with nonlinearities such as saturation and hysteresis together with controllers that use logic such as rule-based controllers, programmable logic controllers and gain scheduled controllers. This book presents an analysis technique for studying piecewise linear systems and extracting information such as global stability and the interaction of the system dynamics and controller logic.
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