EECS 563 Fall 2023

Hybrid Control Systems

Lecture 1

Necmiye Ozay

Outline:
• Course administration
• Course overview and goals
• Intro to hybrid system types
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 Course Administration
• Instructor: Necmiye Ozay
• Email: necmiye@umich.edu
• Office hours: MW 4:30-5:30pm,
or by appointment
• Course website: Canvas
• Grading:
– 40% HWs (7-8 assignments)
– 12% Paper presentation
– 8% Paper critiques (4 critiques)
– 5% Class participation
– 35% Project
Prerequisites: fully understanding the EECS
560 (AERO 550) (ME 564) material!
Knowledge of Lyapunov theory.

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 Course Administration
• Instructor: Necmiye Ozay
• Email: necmiye@umich.edu
• Office hours: MW 4:30-5:30pm,
or by appointment
• Course website: Canvas
• Grading:
– 40% HWs (7-8 assignments)
– 12% Paper presentation
– 8% Paper critiques (4 critiques)
– 5% Class participation
– 35% Project
• Term Project
- Ideally teams of three
- Substantial part of the course
- Some suggestions are included in
the syllabus
§ Applications
§ Software development
§ Comparison of different
tools/techniques from the
literature
§ Investigation of an open problem
- In class poster presentation in
December, final report due finals week
• If you are auditing the course and want
to do a project, let me know.
A very good project can
possibly lead to a
conference/journal paper. 3
 Course Administration
• Instructor: Necmiye Ozay
• Email: necmiye@umich.edu
• Office hours: MW 4:30-5:30pm,
or by appointment
• Course website: Canvas
• Grading:
– 40% HWs (7-8 assignments)
– 12% Paper presentation
– 8% Paper critiques (4 critiques)
– 5% Class participation
– 35% Project
• Homework
- Combination of problems and
computer exercises
- one 48-hour grace period, one 48-
hour diminishing late penalty period
• Paper presentations and critiques:
- ~10 papers through the term
- A team of two will be responsible for
each paper:
§ Sketch the preliminaries, definitions
on the board
§ Present the paper
§ Lead the discussion
§ 12% of your grade
- Rest: write a 1-2 page(s) critique of
the paper (due at the beginning of
the class), 8% of your grade 4
 Couple of Announcements
• Problem Set #1 will be posted tonight*– due
9/10 (Thu)
• Two questionnaires:
– Course background survey (will be posted later
tonight*)
• Paper list will be posted on Canvas sometime
next week*

* Or whenever the network is restored

5
 Classification of Systems
• Based on the type of their states:
– Continuous state: state takes values in Euclidean space Rn for some n (e.g., linear
systems)
– Discrete state: state takes values in a countable or finite set (e.g., light switch takes
values in {ON,OFF})
– Hybrid state: part of the state takes values in Rn while other part takes values in a
finite set
• Based on the set of times over which the state evolves:
– Continuous-time: the set of times is a subset of real line
– Discrete-event: the set of times is a subset of integers. Discrete-time is a special
case where the events are equally spaced in physical (cont.) time
– Hybrid-time: when the evolution is over continuous time but there are also
discrete “instants” where something “special” happens.

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 Schedule for the first few weeks
* Course overview
Week 1 Mon (8/28) * Examples of hybrid systems (hybrid automata)
Wed (8/30) * Lyapunov review

Week 2 Mon (9/4) * Labor Day – NO CLASS

Wed (9/6) * Hybrid Automata & Transition systems

Week 3 Mon (9/11) * Linear and regular properties

Wed (9/13) * Linear and regular properties

Week 4 Mon (9/18) * Model checking linear properties

Wed (9/20) * Model checking regular properties

* Intro to formal methods for hybrid systems
Week 5 Mon (9/25) * Reachability-based verification

Wed (9/27) * Convex geometry + reachability

Week 6 Mon (10/2) * Stability verification for switched systems

* Convex optimization (for verification
Wed (10/4) computations)
We might have some guest lecturers (TBA)! 7
 Motivation and Applications
• Most large-scale, complex,
distributed sensing, actuation and
control systems are hybrid!
– Smart grid, Smart buildings, Aircraft
systems, Automotive, Robotics,
Manufacturing & Automation,
Security & Surveillance

Observations:
• Typically large number of (discrete &
continuous) states and decision
variables
• Current design process is ad hoc
• Scalable tools for control design and
verification (theory and software) are
lagging

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 Current Practice
• Current control design process for
complex systems:
• Given some specs (plain English)
use engineering intuition,
experience and extensive
simulation/testing/fine-tuning to
come up with a solution

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 Current Practice
• Current control design process for
complex systems:
• Given some specs (plain English)
use engineering intuition,
experience and extensive
simulation/testing/fine-tuning to
come up with a solution
• little or no formal guarantees on
correctness: may find bugs/errors
via simulations but cannot prove
correctness
• no formal insight as to internal
mechanisms

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 Course Overview
• Model-based approach based
on rigorous control theory and Model-based approach
some computer science
• If you have taken any control
class, you already know how to
do this for simpler systems and
more “standard”
specifications!

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 Course Overview
• Model-based approach based
on rigorous control theory and Model-based approach
some computer science
• If you have taken any control
class, you already know how to
do this for simpler systems and
more “standard”
specifications!
• We will expand the types of
systems (e.g., hybrid) and the
types of specs (e.g., safety,
reachability, liveness) used for
analysis and synthesis.
• We will also look into some recent papers on what formal analysis can be made
when models or controllers are learned from data. 12
 Course Overview
Course Goals:
• Provide a working knowledge of several analysis and synthesis
techniques/tools applicable to a larger class of systems (e.g., hybrid) with a
richer class of specs (e.g., safety, reachability, liveness)
• Provide a basic background in computer science and control theory that
can be used as a basis for further study
• Provide critical reading skills to follow the hybrid systems literature

Will use ideas from: • Multidisciplinary field

• Dynamical systems and control
• Algorithms
• Theoretical computer science
• Parts of the course might feel
disconnected or independent (will try a
modular structure)
• Pieces will come together when we move
on to articles from recent literature
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 Examples of Hybrid Systems and
Hybrid Models
1. Physics: motion with impact
2. Biological systems: bacteria growth cycles
3. Mechanical and electrical elements: valves, switches
4. Systems on networks: (packet-based) communication protocols
5. Plant is not necessarily hybrid but we need hybrid control:
– pendulum swing up, motion primitives
– high level decision making (e.g. car at an intersection)
– protocols in air traffic control or “rules of the road”
6. System is not hybrid but sometimes easier to do analysis and
synthesis when using a collection of simpler models
– piece-wise affine approximation of complex nonlinear systems (aka hybridization)
– system identification

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 Examples of Hybrid Systems and
Hybrid Models
Ex 1. Physics: Bouncing ball

From Claire Tomlin’s lecture notes. 15

 Examples of Hybrid Systems and
Hybrid Models
Ex 2. Biological systems: bacteria growth cycles
E-coli Diauxic Shift
Detection:
• Fluorescent microscopy to
measure promoter activity
• Cells grow on a medium with
– 0.01% glucose and 0.3%
lactose concentration
• Feeding behavior shifts

Details in Zaslaver et al. Nature

Methods 06
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 Examples of Hybrid Systems and
Hybrid Models
Ex 3. Mechanical and electrical elements: valves, switches

Radiant systems in buildings Electric power system of Boeing 767

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 Examples of Hybrid Systems and
Hybrid Models
Ex 4. Thermostat

From Claire Tomlin’s lecture notes. 18

 Examples of Hybrid Systems and
Hybrid Models
Ex 5. Swinging up a pendulum (Astrom, Furuta, Automatica 1999)

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