Robust tracking control of mechanical hybrid systems driven by electrical actuators

The primary concern of the work is the robust synthesis of hybrid electromechanical systems, operating under unilateral position constraints. The synthesis relies on the nonlinear H_∞ paradigm to be extended in the presence of impact phenomena, perturbations in the continuous and discrete phases, and the dynamics of the electrical actuators that drive the motion of the system. Performance issues of the proposed nonlinear H_∞-controller are illustrated in an experimental study of an impacting inverted pendulum.