Control Using Logic and Switching

Tutorial workshop for the

40th IEEE Conference on Decision and Control

December 4-7, 2001, in Orlando, Florida

The overall objective of this tutorial workshop is to overview a variety of methods for synthesizing and analyzing logic-based switching control systems. By a logic-based switching controller is meant a controller whose subsystems include not only familiar dynamical components {integrators, summers, gains, etc.} but logic-driven elements as well. The overall models of systems composed of such logics together with the processes they are intended to control, are concrete examples of what might be called “hybrid dynamical systems.”

An important category of such systems are those consisting of a continuous-time process to be controlled, a family of fixed-gain or variable-gain candidate controllers, and an “event-driven switching logic” called a supervisor whose job is to determine in real time which controller should be applied to the process. Examples of supervisory control systems include re-configurable systems, fault correction systems, and certain types of parameter-adaptive systems. Major reasons for introducing logic and switching are to deal with communication, actuator and sensor constraints, with model uncertainty, with unforeseen events or to avoid performing difficult tasks e.g., precise equipment calibration which might otherwise be necessary were one to consider only conventional controls.

The aim of this workshop is to provide an overview of algorithms with these capabilities, as well as to discuss various techniques for analyzing the types of switched systems that result.


João Hespanha

University of California at Santa Barbara

Room 3121, Engineering I
Electrical &
Computer Eng.
of California
Santa Barbara, CA 93106 USA

Tel: +1 (805) 893-7042
Fax: +1 (805) 893-3262
hespanha at

Daniel Liberzon

University of Illinois at Urbana-Champaign

Coordinated Science Laboratory
Univ. of
1308 W. Main Street
Urbana, IL 61801 USA

Tel: +1 (217) 244-6750
Fax: +1 (217) 244-1653
liberzon at


A. Stephen Morse

Yale University

Dept. of Electrical Engineering
PO Box 208267
Yale University
New Haven, CT 06520 USA

Tel: +1 (203) 432-4295
Fax: +1 (203) 432-7481
morse at



Part I – Switched Systems (Liberzon)

08:00   08:45 Switched Control Systems

08:45   10:15 Stability of Switched Systems

These two lectures were based on the manuscript:

Daniel Liberzon, Control using Logic and Switching, Dec 2001.

Part II – Self-Adjusting Control (Morse)

10:30   12:00 Framework for Self-Adjusting Control

01:00   02:15 Achieving Detectability

These two lectures were based on the manuscript:

A. Stephen Morse, Notes on Self-Adjusting Control Systems, Dec 2001.

Part III – Supervisory Control (Hespanha)

02:15   03:45 Supervisory Control of Families of Linear Controllers

03:45   05:15 Supervisory Control of Families of Nonlinear Controllers

These two lectures were based on the manuscript:

João Hespanha, Tutorial on Supervisory Control, Nov. 2001.

You can download the slides used in Part III from here.