43. | Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Switch-observer for switched linear systems Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). @inproceedings{KustTren17b, title = {Switch-observer for switched linear systems}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW170901.pdf, Preprint}, year = {2017}, date = {2017-12-15}, booktitle = {Proc. 56th IEEE Conf. Decision Control}, abstract = {To determine the switching signal and the state of a switched linear system, one usually requires mode observability. This requires that all individual modes are observable and that the modes are distinguishable. In theory, it allows to determine the active mode in an arbitrarily short time. If one enlarges the observation to an interval that contains a switch, both assumptions (observability of each mode and clearly distinct dynamics) can be relaxed. In [Küsters and Trenn 2017] this concept, called switch observability, was formalized. It is of particular interest for fault identification. Based on switch observability, we propose an observer. This observer combines the information obtained before and after a switching instant to determine both the state and the switching signal. It is analyzed and illustrated in an example.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } To determine the switching signal and the state of a switched linear system, one usually requires mode observability. This requires that all individual modes are observable and that the modes are distinguishable. In theory, it allows to determine the active mode in an arbitrarily short time. If one enlarges the observation to an interval that contains a switch, both assumptions (observability of each mode and clearly distinct dynamics) can be relaxed. In [Küsters and Trenn 2017] this concept, called switch observability, was formalized. It is of particular interest for fault identification. Based on switch observability, we propose an observer. This observer combines the information obtained before and after a switching instant to determine both the state and the switching signal. It is analyzed and illustrated in an example. |

42. | Küsters, Ferdinand; Patil, Deepak; Trenn, Stephan Switch observability for a class of inhomogeneous switched DAEs Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). @inproceedings{KustPati17b, title = {Switch observability for a class of inhomogeneous switched DAEs}, author = {Ferdinand Küsters and Deepak Patil and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KPT170919.pdf, Preprint}, year = {2017}, date = {2017-12-14}, booktitle = {Proc. 56th IEEE Conf. Decision Control}, abstract = {Necessary and sufficient conditions for switching time and switch observability of a class of inhomogeneous switched differential algebraic equations (DAEs) are obtained. A characterization of initial states and inputs for which switched DAEs are switch unobservable is also provided by using the zeros of an augmented system obtained by combining the output of two modes suitably.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Necessary and sufficient conditions for switching time and switch observability of a class of inhomogeneous switched differential algebraic equations (DAEs) are obtained. A characterization of initial states and inputs for which switched DAEs are switch unobservable is also provided by using the zeros of an augmented system obtained by combining the output of two modes suitably. |

41. | Kausar, Rukhsana; Trenn, Stephan Impulses in structured nonlinear switched DAEs Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). @inproceedings{KausTren17b, title = {Impulses in structured nonlinear switched DAEs}, author = {Rukhsana Kausar and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KT170920.pdf, Preprint}, year = {2017}, date = {2017-12-13}, booktitle = {Proc. 56th IEEE Conf. Decision Control}, abstract = { Switched nonlinear differential algebraic equations (DAEs) occur in mathematical modeling of sudden transients in various physical phenomenons. Hence, it is important to investigate them with respect to the nature of their solutions. The few existing solvability results for switched nonlinear DAEs exclude Dirac impulses by definition; however, in many cases this is too restrictive. For example, in water distribution networks the water hammer effect can only be studied when allowing Dirac impulses in a nonlinear switched DAE description. We investigate existence and uniqueness of solutions with impulses for a general class of nonlinear switched DAEs, where we exploit a certain sparse structure of the nonlinearity.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Switched nonlinear differential algebraic equations (DAEs) occur in mathematical modeling of sudden transients in various physical phenomenons. Hence, it is important to investigate them with respect to the nature of their solutions. The few existing solvability results for switched nonlinear DAEs exclude Dirac impulses by definition; however, in many cases this is too restrictive. For example, in water distribution networks the water hammer effect can only be studied when allowing Dirac impulses in a nonlinear switched DAE description. We investigate existence and uniqueness of solutions with impulses for a general class of nonlinear switched DAEs, where we exploit a certain sparse structure of the nonlinearity. |

40. | Iervolino, Raffaele; Trenn, Stephan; Vasca, Francesco Stability of piecewise affine systems through discontinuous piecewise quadratic Lyapunov functions Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). @inproceedings{IervTren17, title = {Stability of piecewise affine systems through discontinuous piecewise quadratic Lyapunov functions}, author = {Raffaele Iervolino and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-ITV170909.pdf, Preprint}, year = {2017}, date = {2017-12-12}, booktitle = {Proc. 56th IEEE Conf. Decision Control}, abstract = {State-dependent switched systems characterized by piecewise affine (PWA) dynamics in a polyhedral partition of the state space are considered. Sufficient conditions on the vectors fields such that the solution crosses the common boundaries of the polyhedra are expressed in terms of quadratic inequalities constrained to the polyhedra intersections. A piece- wise quadratic (PWQ) function, not necessarily continuous, is proposed as a candidate Lyapunov function (LF). The sign conditions and the negative jumps at the boundaries are expressed in terms of linear matrix inequalities (LMIs) via cone- copositivity. A sufficient condition for the asymptotic stability of the PWA system is then obtained by finding a PWQ-LF through the solution of a set LMIs. Numerical results with a conewise linear system and an opinion dynamics model show the effectiveness of the proposed approach.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } State-dependent switched systems characterized by piecewise affine (PWA) dynamics in a polyhedral partition of the state space are considered. Sufficient conditions on the vectors fields such that the solution crosses the common boundaries of the polyhedra are expressed in terms of quadratic inequalities constrained to the polyhedra intersections. A piece- wise quadratic (PWQ) function, not necessarily continuous, is proposed as a candidate Lyapunov function (LF). The sign conditions and the negative jumps at the boundaries are expressed in terms of linear matrix inequalities (LMIs) via cone- copositivity. A sufficient condition for the asymptotic stability of the PWA system is then obtained by finding a PWQ-LF through the solution of a set LMIs. Numerical results with a conewise linear system and an opinion dynamics model show the effectiveness of the proposed approach. |

39. | Trenn, Stephan Edge-wise funnel synchronization Inproceedings PAMM - Proc. Appl. Math. Mech., WILEY-VCH Verlag, 2017, ISSN: 1617-7061, (to appear). @inproceedings{Tren17, title = {Edge-wise funnel synchronization}, author = {Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-Tre170523.pdf, Preprint}, issn = {1617-7061}, year = {2017}, date = {2017-06-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {17}, number = {1}, publisher = {WILEY-VCH Verlag}, abstract = {Recently, it was suggested in [Shim & Trenn 2015] to use the idea of funnel control in the context of synchronization of multi-agent systems. In that approach each agent is able to measure the difference of its own state and the average state of its neighbours and this synchronization error is used in a typical funnel gain feedback law, see e.g. [Ilchmann & Ryan 2008]. Instead of considering one error signal for each node of the coupling graph (corresponding to an agent) it is also possible to consider one error signal for each edge of the graph. In contrast to the node-wise approach this edgewise funnel synchronization approach results (at least in simulations) in a predictable consensus trajectory.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Recently, it was suggested in [Shim & Trenn 2015] to use the idea of funnel control in the context of synchronization of multi-agent systems. In that approach each agent is able to measure the difference of its own state and the average state of its neighbours and this synchronization error is used in a typical funnel gain feedback law, see e.g. [Ilchmann & Ryan 2008]. Instead of considering one error signal for each node of the coupling graph (corresponding to an agent) it is also possible to consider one error signal for each edge of the graph. In contrast to the node-wise approach this edgewise funnel synchronization approach results (at least in simulations) in a predictable consensus trajectory. |

38. | Kausar, Rukhsana; Trenn, Stephan Water hammer modeling for water networks via hyperbolic PDEs and switched DAEs Inproceedings Proc. of the XVI International Conference on Hyperbolic Problems 2016, 2017, (to appear). @inproceedings{KausTren17a, title = {Water hammer modeling for water networks via hyperbolic PDEs and switched DAEs}, author = {Rukhsana Kausar and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KT170418.pdf, Preprint}, year = {2017}, date = {2017-04-17}, booktitle = {Proc. of the XVI International Conference on Hyperbolic Problems 2016}, abstract = {In water distribution network instantaneous changes in valve and pump settings introduce jumps and sometimes impulses. In particular, a particular impulsive phenomenon which occurs due to sudden closing of valve is the so called water hammer. It is classically modeled as a system of hyperbolic partial differential equations (PDEs). We observed that under some suitable assumptions the PDEs usually used to describe water flows can be simplified to differential algebraic equations (DAEs). The idea is to model water hammer phenomenon in the switched DAEs framework due to its special feature of studying such impulsive effects. To compare these two modeling techniques, a system of hyperbolic PDE model and the switched DAE model for a simple set up consisting of two reservoirs, six pipes and three valve is presented. The aim of this contribution is to present results of both models as motivation for the claim that a switched DAE modeling framework is suitable for describing a water hammer.}, note = {to appear}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In water distribution network instantaneous changes in valve and pump settings introduce jumps and sometimes impulses. In particular, a particular impulsive phenomenon which occurs due to sudden closing of valve is the so called water hammer. It is classically modeled as a system of hyperbolic partial differential equations (PDEs). We observed that under some suitable assumptions the PDEs usually used to describe water flows can be simplified to differential algebraic equations (DAEs). The idea is to model water hammer phenomenon in the switched DAEs framework due to its special feature of studying such impulsive effects. To compare these two modeling techniques, a system of hyperbolic PDE model and the switched DAE model for a simple set up consisting of two reservoirs, six pipes and three valve is presented. The aim of this contribution is to present results of both models as motivation for the claim that a switched DAE modeling framework is suitable for describing a water hammer. |

37. | Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Switch observability for homogeneous switched DAEs Inproceedings IFAC-PapersOnLine, pp. 9355 - 9360, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). @inproceedings{KustTren17a, title = {Switch observability for homogeneous switched DAEs}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW170315.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.1434}, issn = {2405-8963}, year = {2017}, date = {2017-03-25}, booktitle = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {9355 - 9360}, abstract = {We introduce the notions of switching time observability and switch observability for homogeneous switched differential-algebraic equations (DAEs). In contrast to mode detection, they do not require observability of the individual modes and are thus more suitable for fault detection and identification. Based on results in (Küsters and Trenn, 2017) for switched ordinary differential equations (ODEs), we characterize these notions for homogeneous switched DAEs and propose an observer for switch observable systems.}, note = {Presented at 20th IFAC World Congress 2017 in Toulouse, France.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We introduce the notions of switching time observability and switch observability for homogeneous switched differential-algebraic equations (DAEs). In contrast to mode detection, they do not require observability of the individual modes and are thus more suitable for fault detection and identification. Based on results in (Küsters and Trenn, 2017) for switched ordinary differential equations (ODEs), we characterize these notions for homogeneous switched DAEs and propose an observer for switch observable systems. |

36. | Küsters, Ferdinand; Patil, Deepak; Tesi, Pietro; Trenn, Stephan Indiscernible topological variations in DAE networks with applications to power grids Inproceedings IFAC-PapersOnLine, pp. 7333 - 7338, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). @inproceedings{KustPati17a, title = {Indiscernible topological variations in DAE networks with applications to power grids}, author = {Ferdinand Küsters and Deepak Patil and Pietro Tesi and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KPTT170320.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.1478}, issn = {2405-8963}, year = {2017}, date = {2017-03-24}, booktitle = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {7333 - 7338}, abstract = {The ability to detect topology variations in dynamical networks defined by differential algebraic equations (DAEs) is considered. We characterize the existence of initial states, for which topological changes are indiscernible. A key feature of our characterization is the ability to verify indiscernibility just in terms of the nominal topology. We apply the results to a power grid model and also discuss the relationship to recent mode-detection results for switched DAEs.}, note = {Presented at 20th IFAC World Congress 2017 in Toulouse, France.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The ability to detect topology variations in dynamical networks defined by differential algebraic equations (DAEs) is considered. We characterize the existence of initial states, for which topological changes are indiscernible. A key feature of our characterization is the ability to verify indiscernibility just in terms of the nominal topology. We apply the results to a power grid model and also discuss the relationship to recent mode-detection results for switched DAEs. |

35. | Kall, Jochen; Kausar, Rukhsana; Trenn, Stephan Modeling water hammers via PDEs and switched DAEs with numerical justification Inproceedings IFAC-PapersOnLine, pp. 5349 - 5354, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). @inproceedings{KallKaus17, title = {Modeling water hammers via PDEs and switched DAEs with numerical justification}, author = {Jochen Kall and Rukhsana Kausar and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KKT170324.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.927}, issn = {2405-8963}, year = {2017}, date = {2017-03-23}, booktitle = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {5349 - 5354}, abstract = {In water distribution networks instantaneous changes in valve and pump settings may introduces jumps and peaks in the pressure. In particular, a well known phenomenon in response to the sudden closing of a valve is the so called water hammer, which (if not taken into account properly) may destroy parts of the water network. It is classically modeled as a system of hyperbolic partial differential equations (PDEs). After discussing this PDE model we propose a simplified model using switched differential-algebraic equations (DAEs). Switched DAEs are known to be able to produce infinite peaks in response to sudden structural changes. These peaks (in the mathematical form of Dirac impulses) can easily be predicted and may allow for a simpler analysis of complex water networks in the future. As a first step toward that goal, we verify the novel modeling approach by comparing these two modeling techniques numerically for a simple set up consisting of two reservoirs, a pipe and a valve.}, note = {Presented at 20th IFAC World Congress 2017 in Toulouse, France.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In water distribution networks instantaneous changes in valve and pump settings may introduces jumps and peaks in the pressure. In particular, a well known phenomenon in response to the sudden closing of a valve is the so called water hammer, which (if not taken into account properly) may destroy parts of the water network. It is classically modeled as a system of hyperbolic partial differential equations (PDEs). After discussing this PDE model we propose a simplified model using switched differential-algebraic equations (DAEs). Switched DAEs are known to be able to produce infinite peaks in response to sudden structural changes. These peaks (in the mathematical form of Dirac impulses) can easily be predicted and may allow for a simpler analysis of complex water networks in the future. As a first step toward that goal, we verify the novel modeling approach by comparing these two modeling techniques numerically for a simple set up consisting of two reservoirs, a pipe and a valve. |

34. | Tanwani, Aneel; Trenn, Stephan Observer Design for Detectable Switched Differential-Algebraic Equations Inproceedings IFAC-PapersOnLine, pp. 2953 - 2958, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). @inproceedings{TanwTren17b, title = {Observer Design for Detectable Switched Differential-Algebraic Equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT170320.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.659}, issn = {2405-8963}, year = {2017}, date = {2017-03-22}, booktitle = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {2953 - 2958}, abstract = {This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application in synthesis of observers. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor over that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component in the estimator is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption.}, note = {Presented at 20th IFAC World Congress 2017 in Toulouse, France.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application in synthesis of observers. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor over that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component in the estimator is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption. |

33. | Camlibel, Kanat; Iannelli, Luigi; Tanwani, Aneel; Trenn, Stephan Differential-algebraic inclusions with maximal monotone operators Inproceedings Proc. 55th IEEE Conf. Decis. Control, Las Vegas, USA, pp. 610–615, 2016. @inproceedings{CamlIann16, title = {Differential-algebraic inclusions with maximal monotone operators}, author = {Kanat Camlibel and Luigi Iannelli and Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-CITT160923.pdf, Preprint}, doi = {10.1109/CDC.2016.7798336}, year = {2016}, date = {2016-12-01}, booktitle = {Proc. 55th IEEE Conf. Decis. Control, Las Vegas, USA}, pages = {610--615}, abstract = {The term differential-algebraic inclusions (DAIs) not only describes the dynamical relations using set-valued mappings, but also includes the static algebraic inclusions, and this paper considers the problem of existence of solutions for a class of such dynamical systems described by the inclusion ddt Px in -M(x) for a symmetric positive semi-definite matrix P in R^(n x n), and a maximal monotone operator M:R^n => R^n. The existence of solutions is proved using the tools from the theory of maximal monotone operators. The class of solutions that we study in the paper have the property that, instead of the whole state, only Px is absolutely continuous and unique. This framework, in particular, is useful for studying passive differential-algebraic equations (DAEs) coupled with maximal monotone relations. Certain class of irregular DAEs are also covered within the proposed general framework. Applications from electrical circuits are included to provide a practical motivation.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The term differential-algebraic inclusions (DAIs) not only describes the dynamical relations using set-valued mappings, but also includes the static algebraic inclusions, and this paper considers the problem of existence of solutions for a class of such dynamical systems described by the inclusion ddt Px in -M(x) for a symmetric positive semi-definite matrix P in R^(n x n), and a maximal monotone operator M:R^n => R^n. The existence of solutions is proved using the tools from the theory of maximal monotone operators. The class of solutions that we study in the paper have the property that, instead of the whole state, only Px is absolutely continuous and unique. This framework, in particular, is useful for studying passive differential-algebraic equations (DAEs) coupled with maximal monotone relations. Certain class of irregular DAEs are also covered within the proposed general framework. Applications from electrical circuits are included to provide a practical motivation. |

32. | Trenn, Stephan Stabilization of switched DAEs via fast switching Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 827–828, WILEY-VCH Verlag, 2016, ISSN: 1617-7061. @inproceedings{Tren16, title = {Stabilization of switched DAEs via fast switching}, author = {Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-Tre160511.pdf, Preprint}, doi = {10.1002/pamm.201610402}, issn = {1617-7061}, year = {2016}, date = {2016-05-12}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {16}, number = {1}, pages = {827--828}, publisher = {WILEY-VCH Verlag}, abstract = {Switched differential algebraic equations (switched DAEs) can model dynamical systems with state constraints together with sudden structural changes (switches). These switches may lead to induced jumps and can destabilize the system even in the case that each mode is stable. However, the opposite effect is also possible; in particular, the question of finding a stabilizing switching signal is of interest. Two approaches are presented how to stabilize a switched DAE via fast switching.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Switched differential algebraic equations (switched DAEs) can model dynamical systems with state constraints together with sudden structural changes (switches). These switches may lead to induced jumps and can destabilize the system even in the case that each mode is stable. However, the opposite effect is also possible; in particular, the question of finding a stabilizing switching signal is of interest. Two approaches are presented how to stabilize a switched DAE via fast switching. |

31. | Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Observer design based on constant-input observability for DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 813–814, WILEY-VCH Verlag, 2016, ISSN: 1617-7061. @inproceedings{KustTren16b, title = {Observer design based on constant-input observability for DAEs}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW160511.pdf, Preprint}, doi = {10.1002/pamm.201610395}, issn = {1617-7061}, year = {2016}, date = {2016-01-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {16}, number = {1}, pages = {813--814}, publisher = {WILEY-VCH Verlag}, abstract = {For differential-algebraic equations (DAEs) an observability notion is considered which assumes the input to be unknown and constant. Based on this, an observer design is proposed.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } For differential-algebraic equations (DAEs) an observability notion is considered which assumes the input to be unknown and constant. Based on this, an observer design is proposed. |

30. | Küsters, Ferdinand; Trenn, Stephan Duality of switched ODEs with jumps Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 4879–4884, 2015. @inproceedings{KustTren15b, title = {Duality of switched ODEs with jumps}, author = {Ferdinand Küsters and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KT150814.pdf, Preprint}, doi = {10.1109/CDC.2015.7402981}, year = {2015}, date = {2015-12-05}, booktitle = {Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan}, pages = {4879--4884}, abstract = {Duality between controllability/reachability and determinability/observability of switched systems with jumps is proven. The duality result is based on the recent characterization of controllability for switched differential-algebraic equations (DAEs) which share many properties with switched ordinary differential equations (ODEs) with jumps. Here we view the switching signal as given and fixed, which makes the overall switched system time-varying, in particular controllability and reachability do not coincide anymore.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Duality between controllability/reachability and determinability/observability of switched systems with jumps is proven. The duality result is based on the recent characterization of controllability for switched differential-algebraic equations (DAEs) which share many properties with switched ordinary differential equations (ODEs) with jumps. Here we view the switching signal as given and fixed, which makes the overall switched system time-varying, in particular controllability and reachability do not coincide anymore. |

29. | Trenn, Stephan Distributional averaging of switched DAEs with two modes Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 3616–3620, 2015. @inproceedings{Tren15, title = {Distributional averaging of switched DAEs with two modes}, author = {Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-Tre150812.pdf, Preprint}, doi = {10.1109/CDC.2015.7402779}, year = {2015}, date = {2015-12-04}, booktitle = {Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan}, pages = {3616--3620}, abstract = {The averaging technique is a powerful tool for the analysis and control of switched systems. Recently, classical averaging results were generalized to the class of switched differential algebraic equations (switched DAEs). These results did not consider the possible Dirac impulses in the solutions of switched DAEs and it was believed that the presence of Dirac impulses does not prevent convergence towards an average model and can therefore be neglected. It turns out that the first claim (convergence) is indeed true, but nevertheless the Dirac impulses cannot be neglected, they play an important role for the resulting limit. This note first shows with a simple example how the presence of Dirac impulses effects the convergence towards an averaged model and then a formal proof of convergence in the distributional sense for switched DAEs with two modes is given.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The averaging technique is a powerful tool for the analysis and control of switched systems. Recently, classical averaging results were generalized to the class of switched differential algebraic equations (switched DAEs). These results did not consider the possible Dirac impulses in the solutions of switched DAEs and it was believed that the presence of Dirac impulses does not prevent convergence towards an average model and can therefore be neglected. It turns out that the first claim (convergence) is indeed true, but nevertheless the Dirac impulses cannot be neglected, they play an important role for the resulting limit. This note first shows with a simple example how the presence of Dirac impulses effects the convergence towards an averaged model and then a formal proof of convergence in the distributional sense for switched DAEs with two modes is given. |

28. | Tanwani, Aneel; Trenn, Stephan On detectability of switched linear differential-algebraic equations Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2957–2962, 2015. @inproceedings{TanwTren15, title = {On detectability of switched linear differential-algebraic equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT150904.pdf, Preprint}, doi = {10.1109/CDC.2015.7402666}, year = {2015}, date = {2015-12-03}, booktitle = {Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan}, pages = {2957--2962}, abstract = {This paper addresses the notion of detectability for continuous-time switched systems comprising linear differential-algebraic equations (DAEs). It relates to studying asymptotic stability of the set of state trajectories corresponding to zero input and zero output, with a fixed switching signal. Due to the nature of solutions of switched DAEs, the problem reduces to analyzing stability of the trajectories emanating from a non-vanishing unobservable subspace, for which we first derive a geometric expression. The stability of state trajectories starting from that subspace can then be checked in two possible ways. In the first case, detectability of switched DAE is shown to be equivalent to the asymptotic stability of a reduced order discrete-time switched system. In the second approach, the solutions from a non-vanishing unobservable subspace are mapped to the solutions of a reduced order continuous system with time-varying switching ordinary differential equations (ODEs). As a special case of the later approach, the reduced order switched system is time-invariant if the unobservable subspace is invariant for all subsystems}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper addresses the notion of detectability for continuous-time switched systems comprising linear differential-algebraic equations (DAEs). It relates to studying asymptotic stability of the set of state trajectories corresponding to zero input and zero output, with a fixed switching signal. Due to the nature of solutions of switched DAEs, the problem reduces to analyzing stability of the trajectories emanating from a non-vanishing unobservable subspace, for which we first derive a geometric expression. The stability of state trajectories starting from that subspace can then be checked in two possible ways. In the first case, detectability of switched DAE is shown to be equivalent to the asymptotic stability of a reduced order discrete-time switched system. In the second approach, the solutions from a non-vanishing unobservable subspace are mapped to the solutions of a reduced order continuous system with time-varying switching ordinary differential equations (ODEs). As a special case of the later approach, the reduced order switched system is time-invariant if the unobservable subspace is invariant for all subsystems |

27. | Mostacciuolo, Elisa; Trenn, Stephan; Vasca, Francesco Averaging for non-homogeneous switched DAEs Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2951–2956, 2015. @inproceedings{MostTren15b, title = {Averaging for non-homogeneous switched DAEs}, author = {Elisa Mostacciuolo and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-MTV150901.pdf, Preprint}, doi = {10.1109/CDC.2015.7402665}, year = {2015}, date = {2015-12-02}, booktitle = {Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan}, pages = {2951--2956}, abstract = {Averaging is widely used for approximating the dynamics of switched systems. The validity of an averaged model typically depends on the switching frequency and on some technicalities regarding the switched system structure. For homogeneous linear switched differential algebraic equations it is known that an averaged model can be obtained. In this paper an averaging result for non-homogeneous switched systems is presented. A switched electrical circuit illustrates the practical interest of the result.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Averaging is widely used for approximating the dynamics of switched systems. The validity of an averaged model typically depends on the switching frequency and on some technicalities regarding the switched system structure. For homogeneous linear switched differential algebraic equations it is known that an averaged model can be obtained. In this paper an averaging result for non-homogeneous switched systems is presented. A switched electrical circuit illustrates the practical interest of the result. |

26. | Shim, Hyungbo; Trenn, Stephan A preliminary result on synchronization of heterogeneous agents via funnel control Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2229–2234, 2015. @inproceedings{ShimTren15, title = {A preliminary result on synchronization of heterogeneous agents via funnel control}, author = {Hyungbo Shim and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-ST150902.pdf, Preprint}, doi = {10.1109/CDC.2015.7402538}, year = {2015}, date = {2015-12-01}, booktitle = {Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan}, pages = {2229--2234}, abstract = {We propose a new approach to achieve practical synchronization for heterogeneous agents. Our approach is based on the observation that a sufficiently large (but constant) gain for diffusive coupling leads to practical synchronization. In the classical setup of high-gain adaptive control, the funnel controller gained popularity in the last decade, because it is very simple and only structural knowledge of the underlying dynamical system is needed. We illustrate with simulations that “funnel synchronization” may be a promising approach to achieve practical synchronization of heterogeneous agents without the need to know the individual dynamics and the algebraic connectivity of the network (i.e., the second smallest eigenvalue of the Laplacian matrix). For a special case we provide a proof, but the proof for the general case is ongoing research.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We propose a new approach to achieve practical synchronization for heterogeneous agents. Our approach is based on the observation that a sufficiently large (but constant) gain for diffusive coupling leads to practical synchronization. In the classical setup of high-gain adaptive control, the funnel controller gained popularity in the last decade, because it is very simple and only structural knowledge of the underlying dynamical system is needed. We illustrate with simulations that “funnel synchronization” may be a promising approach to achieve practical synchronization of heterogeneous agents without the need to know the individual dynamics and the algebraic connectivity of the network (i.e., the second smallest eigenvalue of the Laplacian matrix). For a special case we provide a proof, but the proof for the general case is ongoing research. |

25. | Küsters, Ferdinand; Trenn, Stephan Controllability characterization of switched DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 643–644, WILEY-VCH Verlag, 2015, ISSN: 1617-7061. @inproceedings{KustTren15a, title = {Controllability characterization of switched DAEs}, author = {Ferdinand Küsters and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KT150527.pdf, Preprint}, doi = {10.1002/pamm.201510311}, issn = {1617-7061}, year = {2015}, date = {2015-06-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {15}, number = {1}, pages = {643--644}, publisher = {WILEY-VCH Verlag}, abstract = {We study controllability of switched differential algebraic equations (switched DAEs) with fixed switching signal. Based on a behavioral definition of controllability we are able to establish a controllability characterization that takes into account possible jumps and impulses induced by the switches.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We study controllability of switched differential algebraic equations (switched DAEs) with fixed switching signal. Based on a behavioral definition of controllability we are able to establish a controllability characterization that takes into account possible jumps and impulses induced by the switches. |

24. | Mostacciuolo, Elisa; Trenn, Stephan; Vasca, Francesco Partial averaging for switched DAEs with two modes Inproceedings Proc. 2015 European Control Conf. (ECC), Linz, Austria, pp. 2896–2901, 2015. @inproceedings{MostTren15a, title = {Partial averaging for switched DAEs with two modes}, author = {Elisa Mostacciuolo and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-MTV150316.pdf, Preprint}, doi = {10.1109/ECC.2015.7330977}, year = {2015}, date = {2015-03-01}, booktitle = {Proc. 2015 European Control Conf. (ECC), Linz, Austria}, pages = {2896--2901}, abstract = {In this paper an averaging result for switched systems whose modes are represented by means of differential algebraic equations (DAEs) is presented. Homogeneous switched DAEs with periodic switchings between two modes are considered. It is proved that a (switched) averaged system can be defined also in the presence of state jumps whose amplitude does not decrease with the increasing of the switching frequency. A switched capacitor electrical circuit is considered as an illustrative example.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In this paper an averaging result for switched systems whose modes are represented by means of differential algebraic equations (DAEs) is presented. Homogeneous switched DAEs with periodic switchings between two modes are considered. It is proved that a (switched) averaged system can be defined also in the presence of state jumps whose amplitude does not decrease with the increasing of the switching frequency. A switched capacitor electrical circuit is considered as an illustrative example. |

23. | Gross, Tjorben B; Trenn, Stephan; Wirsen, Andreas Topological solvability and index characterizations for a common DAE power system model Inproceedings Proc. 2014 IEEE Conf. Control Applications (CCA), pp. 9–14, IEEE 2014. @inproceedings{GrosTren14, title = {Topological solvability and index characterizations for a common DAE power system model}, author = {Tjorben B. Gross and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-GTW140904.pdf, Preprint}, doi = {10.1109/CCA.2014.6981321}, year = {2014}, date = {2014-10-10}, booktitle = {Proc. 2014 IEEE Conf. Control Applications (CCA)}, pages = {9--14}, organization = {IEEE}, abstract = {For the widely-used power system model consisting of the generator swing equations and the power flow equations resulting in a system of differential algebraic equations (DAEs), we introduce a sufficient and necessary solvability condition for the linearized model. This condition is based on the topological structure of the power system. Furthermore we show sufficient conditions for the linearized DAE-system and a nonlinear version of the model to have differentiation index equal to one.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } For the widely-used power system model consisting of the generator swing equations and the power flow equations resulting in a system of differential algebraic equations (DAEs), we introduce a sufficient and necessary solvability condition for the linearized model. This condition is based on the topological structure of the power system. Furthermore we show sufficient conditions for the linearized DAE-system and a nonlinear version of the model to have differentiation index equal to one. |

22. | Defoort, Michael; Djemai, Mohamed; Trenn, Stephan Nondecreasing Lyapunov functions Inproceedings Proc. 21st Int. Symposium Math. Theory Networks Systems (MTNS), pp. 1038–1043, 2014. @inproceedings{DefoDjem14, title = {Nondecreasing Lyapunov functions}, author = {Michael Defoort and Mohamed Djemai and Stephan Trenn}, url = {http://fwn06.housing.rug.nl/mtns2014-papers/fullPapers/0067.pdf, Paper http://fwn06.housing.rug.nl/mtns/?page_id=38, Proceedings Website}, year = {2014}, date = {2014-07-01}, booktitle = {Proc. 21st Int. Symposium Math. Theory Networks Systems (MTNS)}, pages = {1038--1043}, abstract = {We propose the notion of nondecreasing Lyapunov functions which can be used to prove stability or other properties of the system in question. This notion is in particular useful in studying switched or hybrid systems. We illustrate the concept by a general construction of such a nondecreasing Lyapunov function for a class of planar hybrid systems. It is noted that this class encompasses switched systems for which no piecewise-quadratic (classical) Lyapunov function exists.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We propose the notion of nondecreasing Lyapunov functions which can be used to prove stability or other properties of the system in question. This notion is in particular useful in studying switched or hybrid systems. We illustrate the concept by a general construction of such a nondecreasing Lyapunov function for a class of planar hybrid systems. It is noted that this class encompasses switched systems for which no piecewise-quadratic (classical) Lyapunov function exists. |

21. | Ruppert, Markus G -M; Trenn, Stephan Controllability of switched DAEs: The single switch case Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 15–18, Wiley-VCH Verlag GmbH, 2014. @inproceedings{RuppTren14, title = {Controllability of switched DAEs: The single switch case}, author = {Markus G.-M. Ruppert and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-RT140729.pdf, Preprint (contains some corrections w.r.t. the published version)}, doi = {10.1002/pamm.201410005}, year = {2014}, date = {2014-03-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {14}, number = {1}, pages = {15--18}, publisher = {Wiley-VCH Verlag GmbH}, abstract = {We study controllability of switched DAEs and formulate a definition of controllability in the behavioral sense. In order to characterize controllability for switched DAEs we first present new characterizations of controllability of non-switched DAEs based on the Wong-sequences. Afterwards a first result concerning the single-switch case is presented.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We study controllability of switched DAEs and formulate a definition of controllability in the behavioral sense. In order to characterize controllability for switched DAEs we first present new characterizations of controllability of non-switched DAEs based on the Wong-sequences. Afterwards a first result concerning the single-switch case is presented. |

20. | Tanwani, Aneel; Trenn, Stephan An observer for switched differential-algebraic equations based on geometric characterization of observability Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 5981–5986, 2013. @inproceedings{TanwTren13, title = {An observer for switched differential-algebraic equations based on geometric characterization of observability}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT130909.pdf, Preprint}, doi = {10.1109/CDC.2013.6760833}, year = {2013}, date = {2013-12-12}, booktitle = {Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy}, pages = {5981--5986}, abstract = {Based on our previous work dealing with geometric characterization of observability for switched differential-algebraic equations (switched DAEs), we propose an observer design for switched DAEs that generates an asymptotically convergent state estimate. Without assuming the observability of individual modes, the central idea in constructing the observer is to filter out the maximal information from the output of each of the active subsystems and combine it with the previously extracted information to obtain a good estimate of the state after a certain time has passed. In general, observability only holds when impulses in the output are taken into account, hence our observer incorporates the knowledge of impulses in the output. This is a distinguishing feature of our observer design compared to observers for switched ordinary differential equations.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Based on our previous work dealing with geometric characterization of observability for switched differential-algebraic equations (switched DAEs), we propose an observer design for switched DAEs that generates an asymptotically convergent state estimate. Without assuming the observability of individual modes, the central idea in constructing the observer is to filter out the maximal information from the output of each of the active subsystems and combine it with the previously extracted information to obtain a good estimate of the state after a certain time has passed. In general, observability only holds when impulses in the output are taken into account, hence our observer incorporates the knowledge of impulses in the output. This is a distinguishing feature of our observer design compared to observers for switched ordinary differential equations. |

19. | Costantini, Giuliano; Trenn, Stephan; Vasca, Francesco Regularity and passivity for jump rules in linear switched systems Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 4030–4035, 2013, ISSN: 0191-2216. @inproceedings{CostTren13, title = {Regularity and passivity for jump rules in linear switched systems}, author = {Giuliano Costantini and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-CTV130906.pdf, Preprint}, doi = {10.1109/CDC.2013.6760506}, issn = {0191-2216}, year = {2013}, date = {2013-12-11}, booktitle = {Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy}, pages = {4030--4035}, abstract = {A wide class of linear switched systems (LSS) can be represented by a sequence of modes each one described by a set of differential algebraic equations (DAEs). LSS can exhibit discontinuities in the state evolution, also called jumps, when the state at the end of a mode is not consistent with the DAEs of the successive mode. Then the problem of defining a proper state jump rule arises when an inconsistent initial condition is given. Regularity and passivity conditions provide two conceptually different jump maps respectively. In this paper, after proving some preliminary result on the jump analysis within the regularity framework, it is shown the equivalence of regularity-based and passivity-based jump rules. A switched capacitor electrical circuit is used to numerically confirm the theoretical result.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } A wide class of linear switched systems (LSS) can be represented by a sequence of modes each one described by a set of differential algebraic equations (DAEs). LSS can exhibit discontinuities in the state evolution, also called jumps, when the state at the end of a mode is not consistent with the DAEs of the successive mode. Then the problem of defining a proper state jump rule arises when an inconsistent initial condition is given. Regularity and passivity conditions provide two conceptually different jump maps respectively. In this paper, after proving some preliminary result on the jump analysis within the regularity framework, it is shown the equivalence of regularity-based and passivity-based jump rules. A switched capacitor electrical circuit is used to numerically confirm the theoretical result. |

18. | Iannelli, Luigi; Pedicini, Carmen; Trenn, Stephan; Vasca, Francesco An averaging result for switched DAEs with multiple modes Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 1378 - 1383, 2013. @inproceedings{IannPedi13b, title = {An averaging result for switched DAEs with multiple modes}, author = {Luigi Iannelli and Carmen Pedicini and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-IPTV130911.pdf, Preprint}, doi = {10.1109/CDC.2013.6760075}, year = {2013}, date = {2013-12-10}, booktitle = {Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy}, pages = {1378 - 1383}, abstract = {The major motivation of the averaging technique for switched systems is the construction of a smooth average system whose state trajectory approximates in some sense the state trajectory of the switched system. Averaging of dynamic systems represented by switched ordinary differential equations (ODEs) has been widely analyzed in the literature. The averaging approach can be useful also for the analysis of switched differential algebraic equations (DAEs). Indeed by analyzing the evolution of the switched DAEs state it is possible to conjecture the existence of an average model. However a trivial generalization of the ODE case is not possible due to the presence of state jumps. In this paper we discuss the averaging approach for switched DAEs and an approximation result is derived for homogenous switched linear DAE with periodic switching signals commuting among several modes. This approximation result extends a recent averaging result for switched DAEs with only two modes. Numerical simulations confirm the validity of the averaging approach for switched DAEs.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } The major motivation of the averaging technique for switched systems is the construction of a smooth average system whose state trajectory approximates in some sense the state trajectory of the switched system. Averaging of dynamic systems represented by switched ordinary differential equations (ODEs) has been widely analyzed in the literature. The averaging approach can be useful also for the analysis of switched differential algebraic equations (DAEs). Indeed by analyzing the evolution of the switched DAEs state it is possible to conjecture the existence of an average model. However a trivial generalization of the ODE case is not possible due to the presence of state jumps. In this paper we discuss the averaging approach for switched DAEs and an approximation result is derived for homogenous switched linear DAE with periodic switching signals commuting among several modes. This approximation result extends a recent averaging result for switched DAEs with only two modes. Numerical simulations confirm the validity of the averaging approach for switched DAEs. |

17. | Iannelli, Luigi; Pedicini, Carmen; Trenn, Stephan; Vasca, Francesco Averaging for switched DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 489–490, WILEY-VCH Verlag, 2013, ISSN: 1617-7061. @inproceedings{IannPedi13c, title = {Averaging for switched DAEs}, author = {Luigi Iannelli and Carmen Pedicini and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-IPTV130527.pdf, Preprint}, doi = {10.1002/pamm.201310237}, issn = {1617-7061}, year = {2013}, date = {2013-10-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {13}, number = {1}, pages = {489--490}, publisher = {WILEY-VCH Verlag}, abstract = {Switched differential-algebraic equations (switched DAEs) E_sigma(t) x'(t) = A_sigma(t) x(t) are suitable for modeling many practical systems, e.g. electrical circuits. When the switching is periodic and of high frequency, the question arises whether the solutions of switched DAEs can be approximated by an average non-switching system. It is well known that for a quite general class of switched ordinary differential equations (ODEs) this is the case. For switched DAEs, due the presence of the so-called consistency projectors, it is possible that the limit of trajectories for faster and faster switching does not exist. Under certain assumptions on the consistency projectors a result concerning the averaging for switched DAEs is presented.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Switched differential-algebraic equations (switched DAEs) E_sigma(t) x'(t) = A_sigma(t) x(t) are suitable for modeling many practical systems, e.g. electrical circuits. When the switching is periodic and of high frequency, the question arises whether the solutions of switched DAEs can be approximated by an average non-switching system. It is well known that for a quite general class of switched ordinary differential equations (ODEs) this is the case. For switched DAEs, due the presence of the so-called consistency projectors, it is possible that the limit of trajectories for faster and faster switching does not exist. Under certain assumptions on the consistency projectors a result concerning the averaging for switched DAEs is presented. |

16. | Iannelli, Luigi; Pedicini, Carmen; Trenn, Stephan; Vasca, Francesco On averaging for switched linear differential algebraic equations Inproceedings Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland, pp. 2163 – 2168, 2013. @inproceedings{IannPedi13a, title = {On averaging for switched linear differential algebraic equations}, author = {Luigi Iannelli and Carmen Pedicini and Stephan Trenn and Francesco Vasca}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-IPTV130326.pdf, Preprint http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6669240, IEEE Xplore Article Number 6669240}, year = {2013}, date = {2013-07-02}, booktitle = {Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland}, pages = {2163 -- 2168}, abstract = {Averaging is an effective technique which allows the analysis and control design of nonsmooth switched systems through the use of corresponding simpler smooth averaged systems. Approximation results and stability analysis have been presented in the literature for dynamic systems described by switched ordinary differential equations. In this paper the averaging technique is shown to be useful also for the analysis of switched systems whose modes are represented by means of differential algebraic equations (DAEs). An approximation result is derived for a simple but representative homogenous switched DAE with periodic switching signals and two modes. Simulations based on a simple electric circuit model illustrate the theoretical result.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Averaging is an effective technique which allows the analysis and control design of nonsmooth switched systems through the use of corresponding simpler smooth averaged systems. Approximation results and stability analysis have been presented in the literature for dynamic systems described by switched ordinary differential equations. In this paper the averaging technique is shown to be useful also for the analysis of switched systems whose modes are represented by means of differential algebraic equations (DAEs). An approximation result is derived for a simple but representative homogenous switched DAE with periodic switching signals and two modes. Simulations based on a simple electric circuit model illustrate the theoretical result. |

15. | Liberzon, Daniel; Trenn, Stephan The bang-bang funnel controller: time delays and case study Inproceedings Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland, pp. 1669–1674, 2013. @inproceedings{LibeTren13a, title = {The bang-bang funnel controller: time delays and case study}, author = {Daniel Liberzon and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-LT130320.pdf, Preprint http://ieeexplore.ieee.org/document/6669120, IEEE Xplore Article Number 6669120}, year = {2013}, date = {2013-07-01}, booktitle = {Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland}, pages = {1669--1674}, abstract = {We investigate the recently introduced bang-bang funnel controller with respect to its robustness to time delays. We present slightly modified feasibility conditions and prove that the bang-bang funnel controller applied to a relative-degree-two nonlinear system can tolerate sufficiently small time delays. A second contribution of this paper is an extensive case study, based on a model of a real experimental setup, where implementation issues such as the necessary sampling time and the conservativeness of the feasibility assumptions are explicitly considered.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We investigate the recently introduced bang-bang funnel controller with respect to its robustness to time delays. We present slightly modified feasibility conditions and prove that the bang-bang funnel controller applied to a relative-degree-two nonlinear system can tolerate sufficiently small time delays. A second contribution of this paper is an extensive case study, based on a model of a real experimental setup, where implementation issues such as the necessary sampling time and the conservativeness of the feasibility assumptions are explicitly considered. |

14. | Trenn, Stephan; Willems, Jan C Switched behaviors with impulses - a unifying framework Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 3203-3208, 2012, ISSN: 0743-1546. @inproceedings{TrenWill12, title = {Switched behaviors with impulses - a unifying framework}, author = {Stephan Trenn and Jan C. Willems}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TW120813.pdf, Preprint}, doi = {10.1109/CDC.2012.6426883}, issn = {0743-1546}, year = {2012}, date = {2012-12-13}, booktitle = {Proc. 51st IEEE Conf. Decis. Control, Maui, USA}, pages = {3203-3208}, abstract = {We present a new framework to describe and study switched behaviors. We allow for jumps and impulses in the trajectories induced either implicitly by the dynamics after the switch or explicitly by “impacts”. With some examples from electrical circuit we motivate that the dynamical equations before and after the switch already uniquely define the “dynamics” at the switch, i.e. jumps and impulses. On the other hand, we also allow for external impacts resulting in jumps and impulses not induced by the internal dynamics. As a first theoretical result in this new framework we present a characterization for autonomy of a switched behavior.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We present a new framework to describe and study switched behaviors. We allow for jumps and impulses in the trajectories induced either implicitly by the dynamics after the switch or explicitly by “impacts”. With some examples from electrical circuit we motivate that the dynamical equations before and after the switch already uniquely define the “dynamics” at the switch, i.e. jumps and impulses. On the other hand, we also allow for external impacts resulting in jumps and impulses not induced by the internal dynamics. As a first theoretical result in this new framework we present a characterization for autonomy of a switched behavior. |

13. | Trenn, Stephan; Wirth, Fabian Linear switched DAEs: Lyapunov exponents, a converse Lyapunov theorem, and Barabanov norms Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 2666–2671, 2012, ISSN: 0191-2216. @inproceedings{TrenWirt12b, title = {Linear switched DAEs: Lyapunov exponents, a converse Lyapunov theorem, and Barabanov norms}, author = {Stephan Trenn and Fabian Wirth}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TW120901.pdf, Preprint}, doi = {10.1109/CDC.2012.6426245}, issn = {0191-2216}, year = {2012}, date = {2012-12-12}, booktitle = {Proc. 51st IEEE Conf. Decis. Control, Maui, USA}, pages = {2666--2671}, abstract = {For linear switched differential algebraic equations (DAEs) we consider the problem of characterizing the maximal exponential growth rate of solutions. It is shown that a finite exponential growth rate exists if and only if the set of consistency projectors associated to the family of DAEs is product bounded. This result may be used to derive a converse Lyapunov theorem for switched DAEs. Under the assumption of irreducibility we show that a construction reminiscent of the construction of Barabanov norms is feasible as well.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } For linear switched differential algebraic equations (DAEs) we consider the problem of characterizing the maximal exponential growth rate of solutions. It is shown that a finite exponential growth rate exists if and only if the set of consistency projectors associated to the family of DAEs is product bounded. This result may be used to derive a converse Lyapunov theorem for switched DAEs. Under the assumption of irreducibility we show that a construction reminiscent of the construction of Barabanov norms is feasible as well. |

12. | Tanwani, Aneel; Trenn, Stephan Observability of switched differential-algebraic equations for general switching signals Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 2648–2653, 2012. @inproceedings{TanwTren12, title = {Observability of switched differential-algebraic equations for general switching signals}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT120822.pdf, Preprint}, doi = {10.1109/CDC.2012.6427087}, year = {2012}, date = {2012-12-11}, booktitle = {Proc. 51st IEEE Conf. Decis. Control, Maui, USA}, pages = {2648--2653}, abstract = {We study observability of switched differential-algebraic equations (DAEs) for arbitrary switching. We present a characterization of observability and a related property called determinability. These characterizations utilize the results for the single-switch case recently obtained by the authors. Furthermore, we study observability conditions when only the mode sequence of the switching signal (and not the switching times) are known. This leads to necessary and sufficient conditions for observability and determinability. We illustrate the results with illustrative examples.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We study observability of switched differential-algebraic equations (DAEs) for arbitrary switching. We present a characterization of observability and a related property called determinability. These characterizations utilize the results for the single-switch case recently obtained by the authors. Furthermore, we study observability conditions when only the mode sequence of the switching signal (and not the switching times) are known. This leads to necessary and sufficient conditions for observability and determinability. We illustrate the results with illustrative examples. |

11. | Trenn, Stephan; Wirth, Fabian A converse Lyapunov theorem for switched DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 789–792, WILEY-VCH Verlag, 2012, ISSN: 1617-7061. @inproceedings{TrenWirt12a, title = {A converse Lyapunov theorem for switched DAEs}, author = {Stephan Trenn and Fabian Wirth}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TW120508.pdf, Preprint}, doi = {10.1002/pamm.201210381}, issn = {1617-7061}, year = {2012}, date = {2012-03-02}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {12}, number = {1}, pages = {789--792}, publisher = {WILEY-VCH Verlag}, abstract = {For switched ordinary differential equations (ODEs) it is well known that exponential stability under arbitrary switching yields the existence of a common Lyapunov function. The result is known as a “converse Lyapunov Theorem”. In this note we will present a converse Lyapunov theorem for switched differential algebraic equations (DAEs) as well as the construction of a Barabanov norm for irreducible switched DAEs.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } For switched ordinary differential equations (ODEs) it is well known that exponential stability under arbitrary switching yields the existence of a common Lyapunov function. The result is known as a “converse Lyapunov Theorem”. In this note we will present a converse Lyapunov theorem for switched differential algebraic equations (DAEs) as well as the construction of a Barabanov norm for irreducible switched DAEs. |

10. | Hackl, Christoph M; Trenn, Stephan The bang-bang funnel controller: An experimental verification Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 735–736, GAMM Annual Meeting 2012, Darmstadt Wiley-VCH Verlag GmbH, Weinheim, 2012. @inproceedings{HackTren12, title = {The bang-bang funnel controller: An experimental verification}, author = {Christoph M. Hackl and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-HT120427.pdf, Preprint}, doi = {10.1002/pamm.201210356}, year = {2012}, date = {2012-03-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {12}, number = {1}, pages = {735--736}, publisher = {Wiley-VCH Verlag GmbH}, address = {Weinheim}, organization = {GAMM Annual Meeting 2012, Darmstadt}, abstract = {We adjust the newly developed bang-bang funnel controller such that it is more applicable for real world scenarios. The main idea is to introduce a third “neutral” input value to account for the situation when the error is already small enough and no control action is necessary. We present experimental results to illustrate the effectiveness of our new approach in the case of position control of an electrical drive.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We adjust the newly developed bang-bang funnel controller such that it is more applicable for real world scenarios. The main idea is to introduce a third “neutral” input value to account for the situation when the error is already small enough and no control action is necessary. We present experimental results to illustrate the effectiveness of our new approach in the case of position control of an electrical drive. |

9. | Liberzon, Daniel; Trenn, Stephan; Wirth, Fabian Commutativity and asymptotic stability for linear switched DAEs Inproceedings Proc. 50th IEEE Conf. Decis. Control and European Control Conference ECC 2011, Orlando, USA, pp. 417–422, 2011. @inproceedings{LibeTren11, title = {Commutativity and asymptotic stability for linear switched DAEs}, author = {Daniel Liberzon and Stephan Trenn and Fabian Wirth}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-LTW110816.pdf, Preprint}, doi = {10.1109/CDC.2011.6160335}, year = {2011}, date = {2011-12-01}, booktitle = {Proc. 50th IEEE Conf. Decis. Control and European Control Conference ECC 2011, Orlando, USA}, pages = {417--422}, abstract = {For linear switched ordinary differential equations with asymptotically stable constituent systems, it is well known that commutativity of the coefficient matrices implies asymptotic stability of the switched system under arbitrary switching. This result is generalized to linear switched differential algebraic equations (DAEs). Although the solutions of a switched DAE can exhibit jumps it turns out that it suffices to check commutativity of the “flow” matrices. As in the ODE case we are also able to construct a common quadratic Lyapunov function.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } For linear switched ordinary differential equations with asymptotically stable constituent systems, it is well known that commutativity of the coefficient matrices implies asymptotic stability of the switched system under arbitrary switching. This result is generalized to linear switched differential algebraic equations (DAEs). Although the solutions of a switched DAE can exhibit jumps it turns out that it suffices to check commutativity of the “flow” matrices. As in the ODE case we are also able to construct a common quadratic Lyapunov function. |

8. | Domínguez-García, Alejandro D; Trenn, Stephan Detection of impulsive effects in switched DAEs with applications to power electronics reliability analysis Inproceedings Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA, pp. 5662–5667, 2010. @inproceedings{DomiTren10, title = {Detection of impulsive effects in switched DAEs with applications to power electronics reliability analysis}, author = {Alejandro D. Domínguez-García and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-DT100810.pdf, Preprint}, doi = {10.1109/CDC.2010.5717011}, year = {2010}, date = {2010-12-17}, booktitle = {Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA}, pages = {5662--5667}, abstract = {This paper presents an analytical framework for detecting the presence of jumps and impulses in the solutions of switched differential algebraic equations (switched DAEs). The framework can be applied in the early design stage of fault-tolerant power electronics systems to identify design flaws that could jeopardize its reliability. The system is described by a switched differential algebraic equation, accounting for both fault-free system configurations and the configurations that arise after component faults, where each configuration p is defined by a pair of matrices (Ep;Ap). For each configuration p, the so called consistency projector is obtained from the pair (Ep;Ap). Based on the consistency projectors of all possible configurations, conditions for impulse-free and jump-free solutions of the switched DAE are established. A case-study of a dual redundant buck converter is presented to illustrate the framework.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper presents an analytical framework for detecting the presence of jumps and impulses in the solutions of switched differential algebraic equations (switched DAEs). The framework can be applied in the early design stage of fault-tolerant power electronics systems to identify design flaws that could jeopardize its reliability. The system is described by a switched differential algebraic equation, accounting for both fault-free system configurations and the configurations that arise after component faults, where each configuration p is defined by a pair of matrices (Ep;Ap). For each configuration p, the so called consistency projector is obtained from the pair (Ep;Ap). Based on the consistency projectors of all possible configurations, conditions for impulse-free and jump-free solutions of the switched DAE are established. A case-study of a dual redundant buck converter is presented to illustrate the framework. |

7. | Tanwani, Aneel; Trenn, Stephan On observability of switched differential-algebraic equations Inproceedings Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA, pp. 5656–5661, 2010. @inproceedings{TanwTren10, title = {On observability of switched differential-algebraic equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT100821.pdf, Preprint}, doi = {10.1109/CDC.2010.5717685}, year = {2010}, date = {2010-12-16}, booktitle = {Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA}, pages = {5656--5661}, abstract = {We investigate observability of switched differential algebraic equations. The article primarily focuses on a class of switched systems comprising of two modes and a switching signal with a single switching instant. We provide a necessary and sufficient condition under which it is possible to recover the value of state trajectory (globally in time) with the help of switching phenomenon, even though the constituent subsystems may not be observable. In case the switched system is not globally observable, we discuss the concept of forward observability which deals with the recovery of state trajectory after the switching. A necessary and sufficient condition that characterizes forward observability is presented.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } We investigate observability of switched differential algebraic equations. The article primarily focuses on a class of switched systems comprising of two modes and a switching signal with a single switching instant. We provide a necessary and sufficient condition under which it is possible to recover the value of state trajectory (globally in time) with the help of switching phenomenon, even though the constituent subsystems may not be observable. In case the switched system is not globally observable, we discuss the concept of forward observability which deals with the recovery of state trajectory after the switching. A necessary and sufficient condition that characterizes forward observability is presented. |

6. | Liberzon, Daniel; Trenn, Stephan The bang-bang funnel controller Inproceedings Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA, pp. 690–695, 2010. @inproceedings{LibeTren10, title = {The bang-bang funnel controller}, author = {Daniel Liberzon and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-LT100806.pdf, Preprint http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-LT100806longVersion.pdf, Preprint (long version)}, doi = {10.1109/CDC.2010.5717742}, year = {2010}, date = {2010-12-15}, booktitle = {Proc. 49th IEEE Conf. Decis. Control, Atlanta, USA}, pages = {690--695}, abstract = {A bang-bang controller is proposed which is able to ensure reference signal tracking with prespecified time-varying error bounds (the funnel) for nonlinear systems with relative degree one or two. For the design of the controller only the knowledge of the relative degree is needed. The controller is guaranteed to work when certain feasibility assumptions are fulfilled, which are explicitly given in the main results. Linear systems with relative degree one or two are feasible if the system is minimum phase and the control values are large enough.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } A bang-bang controller is proposed which is able to ensure reference signal tracking with prespecified time-varying error bounds (the funnel) for nonlinear systems with relative degree one or two. For the design of the controller only the knowledge of the relative degree is needed. The controller is guaranteed to work when certain feasibility assumptions are fulfilled, which are explicitly given in the main results. Linear systems with relative degree one or two are feasible if the system is minimum phase and the control values are large enough. |

5. | Liberzon, Daniel; Trenn, Stephan On stability of linear switched differential algebraic equations Inproceedings Proc. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, pp. 2156–2161, 2009. @inproceedings{LibeTren09, title = {On stability of linear switched differential algebraic equations}, author = {Daniel Liberzon and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-LT090903.pdf, Preprint}, doi = {10.1109/CDC.2009.5400076}, year = {2009}, date = {2009-12-01}, booktitle = {Proc. Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference}, pages = {2156--2161}, abstract = {This paper studies linear switched differential algebraic equations (DAEs), i.e., systems defined by a finite family of linear DAE subsystems and a switching signal that governs the switching between them. We show by examples that switching between stable subsystems may lead to instability, and that the presence of algebraic constraints leads to a larger variety of possible instability mechanisms compared to those observed in switched systems described by ordinary differential equations (ODEs). We prove two sufficient conditions for stability of switched DAEs based on the existence of suitable Lyapunov functions. The first result states that a common Lyapunov function guarantees stability under arbitrary switching when an additional condition involving consistency projectors holds (this extra condition is not needed when there are no jumps, as in the case of switched ODEs). The second result shows that stability is preserved under switching with sufficiently large dwell time.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } This paper studies linear switched differential algebraic equations (DAEs), i.e., systems defined by a finite family of linear DAE subsystems and a switching signal that governs the switching between them. We show by examples that switching between stable subsystems may lead to instability, and that the presence of algebraic constraints leads to a larger variety of possible instability mechanisms compared to those observed in switched systems described by ordinary differential equations (ODEs). We prove two sufficient conditions for stability of switched DAEs based on the existence of suitable Lyapunov functions. The first result states that a common Lyapunov function guarantees stability under arbitrary switching when an additional condition involving consistency projectors holds (this extra condition is not needed when there are no jumps, as in the case of switched ODEs). The second result shows that stability is preserved under switching with sufficiently large dwell time. |

4. | Trenn, Stephan Distributional solution theory for linear DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 10077–10080, WILEY-VCH Verlag, 2008, ISSN: 1617--7061. @inproceedings{Tren08b, title = {Distributional solution theory for linear DAEs}, author = {Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-Tre080424.pdf, Preprint}, doi = {10.1002/pamm.200810077}, issn = {1617--7061}, year = {2008}, date = {2008-05-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {8}, number = {1}, pages = {10077--10080}, publisher = {WILEY-VCH Verlag}, abstract = {A solution theory for switched linear differential–algebraic equations (DAEs) is developed. To allow for non–smooth coordinate transformation, the coefficients matrices may have distributional entries. Since also distributional solutions are considered it is necessary to define a suitable multiplication for distribution. This is achieved by restricting the space of distributions to the smaller space of piecewise–smooth distributions. Solution formulae for two special DAEs, distributional ordinary differential equations (ODEs) and pure distributional DAEs, are given.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } A solution theory for switched linear differential–algebraic equations (DAEs) is developed. To allow for non–smooth coordinate transformation, the coefficients matrices may have distributional entries. Since also distributional solutions are considered it is necessary to define a suitable multiplication for distribution. This is achieved by restricting the space of distributions to the smaller space of piecewise–smooth distributions. Solution formulae for two special DAEs, distributional ordinary differential equations (ODEs) and pure distributional DAEs, are given. |

3. | Mandaloju, Nagendra P; Trenn, Stephan Analogue Implementation of the Funnel Controller Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 823–824, WILEY-VCH Verlag, 2006, ISSN: 1617-7061. @inproceedings{MandTren06, title = {Analogue Implementation of the Funnel Controller}, author = {Nagendra P. Mandaloju and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-MT060428.pdf, Preprint}, doi = {10.1002/pamm.200610391}, issn = {1617-7061}, year = {2006}, date = {2006-05-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {6}, number = {1}, pages = {823--824}, publisher = {WILEY-VCH Verlag}, abstract = {In many tracking control problems, pre-specified bounds for the evolution of the tracking error should be met. The ‘funnel controller’ addresses this requirement and guarantees transient performance for a fairly large class of systems. In addition, only structural assumptions on the underlying system are made; the exact knowledge of the system parameters is not required. This is in contrast to most classical controllers where only asymptotic behaviour can be guaranteed and the system parameters must be known or estimated. Until now, the funnel controller was only studied theoretically. We will present the results of an analogue implementation of the funnel controller. The results show that the funnel controller works well in reality, i.e. it guarantees the pre-specified error bounds. The implementation is an analogue circuit composed of standard devices and is therefore suitable for a broad range of applications.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } In many tracking control problems, pre-specified bounds for the evolution of the tracking error should be met. The ‘funnel controller’ addresses this requirement and guarantees transient performance for a fairly large class of systems. In addition, only structural assumptions on the underlying system are made; the exact knowledge of the system parameters is not required. This is in contrast to most classical controllers where only asymptotic behaviour can be guaranteed and the system parameters must be known or estimated. Until now, the funnel controller was only studied theoretically. We will present the results of an analogue implementation of the funnel controller. The results show that the funnel controller works well in reality, i.e. it guarantees the pre-specified error bounds. The implementation is an analogue circuit composed of standard devices and is therefore suitable for a broad range of applications. |

2. | French, Mark; Trenn, Stephan l Proc. 44th IEEE Conf. Decis. Control and European Control Conf. (ECC), pp. 2865–2870, 2005. @inproceedings{FrenTren05, title = {l^{p} gain bounds for switched adaptive controllers}, author = {Mark French and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-FT050913.pdf, Preprint}, doi = {10.1109/CDC.2005.1582598}, year = {2005}, date = {2005-12-01}, booktitle = {Proc. 44th IEEE Conf. Decis. Control and European Control Conf. (ECC)}, pages = {2865--2870}, abstract = {A class of discrete plants controlled by a switching adaptive strategy is considered, and l^p bounds, 1 ≤ p ≤ ∞, are obtained for the closed loop gain relating input and output disturbances to internal signals.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } A class of discrete plants controlled by a switching adaptive strategy is considered, and l^p bounds, 1 ≤ p ≤ ∞, are obtained for the closed loop gain relating input and output disturbances to internal signals. |

1. | Ilchmann, Achim; Ryan, Eugene P; Trenn, Stephan Adaptive tracking within prescribed funnels Inproceedings Proceedings of the 2004 IEEE International Conference on Control Applications, 2004., pp. 1032–1036, 2004. @inproceedings{IlchRyan04b, title = {Adaptive tracking within prescribed funnels}, author = {Achim Ilchmann and Eugene P. Ryan and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-IRT040512.pdf, Preprint}, doi = {10.1109/CCA.2004.1387507}, year = {2004}, date = {2004-09-01}, booktitle = {Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.}, volume = {2}, pages = {1032--1036}, abstract = {Output tracking of a reference signal (an absolutely continuous bounded function with essentially bounded derivative) is considered in a context of a class of nonlinear systems described by functional differential equations. The primary control objective is tracking with prescribed accuracy: given lambda > 0 (arbitrarily small), ensure that, for every admissible system and reference signal, the tracking error e is ultimately smaller than lambda (that is, ||e(t)|| < lambda for all t sufficiently large). The second objective is guaranteed transient performance: the evolution of the tracking error should be contained in a prescribed performance funnel F. Adopting the simple feedback control structure u(t) = -k(t)e(t), it is shown that the above objectives can be achieved if the gain k(t) = K_F(t,e(t)) is generated by any continuous function K_F exhibiting two specific properties formulated in terms of the distance of e(t) to the funnel boundary.}, keywords = {}, pubstate = {published}, tppubtype = {inproceedings} } Output tracking of a reference signal (an absolutely continuous bounded function with essentially bounded derivative) is considered in a context of a class of nonlinear systems described by functional differential equations. The primary control objective is tracking with prescribed accuracy: given lambda > 0 (arbitrarily small), ensure that, for every admissible system and reference signal, the tracking error e is ultimately smaller than lambda (that is, ||e(t)|| < lambda for all t sufficiently large). The second objective is guaranteed transient performance: the evolution of the tracking error should be contained in a prescribed performance funnel F. Adopting the simple feedback control structure u(t) = -k(t)e(t), it is shown that the above objectives can be achieved if the gain k(t) = K_F(t,e(t)) is generated by any continuous function K_F exhibiting two specific properties formulated in terms of the distance of e(t) to the funnel boundary. |

# Conferences

43. | Switch-observer for switched linear systems Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). |

42. | Switch observability for a class of inhomogeneous switched DAEs Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). |

41. | Impulses in structured nonlinear switched DAEs Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). |

40. | Stability of piecewise affine systems through discontinuous piecewise quadratic Lyapunov functions Inproceedings Proc. 56th IEEE Conf. Decision Control, 2017, (to appear). |

39. | Edge-wise funnel synchronization Inproceedings PAMM - Proc. Appl. Math. Mech., WILEY-VCH Verlag, 2017, ISSN: 1617-7061, (to appear). |

38. | Water hammer modeling for water networks via hyperbolic PDEs and switched DAEs Inproceedings Proc. of the XVI International Conference on Hyperbolic Problems 2016, 2017, (to appear). |

37. | Switch observability for homogeneous switched DAEs Inproceedings IFAC-PapersOnLine, pp. 9355 - 9360, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). |

36. | Indiscernible topological variations in DAE networks with applications to power grids Inproceedings IFAC-PapersOnLine, pp. 7333 - 7338, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). |

35. | Modeling water hammers via PDEs and switched DAEs with numerical justification Inproceedings IFAC-PapersOnLine, pp. 5349 - 5354, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). |

34. | Observer Design for Detectable Switched Differential-Algebraic Equations Inproceedings IFAC-PapersOnLine, pp. 2953 - 2958, 2017, ISSN: 2405-8963, (Presented at 20th IFAC World Congress 2017 in Toulouse, France.). |

33. | Differential-algebraic inclusions with maximal monotone operators Inproceedings Proc. 55th IEEE Conf. Decis. Control, Las Vegas, USA, pp. 610–615, 2016. |

32. | Stabilization of switched DAEs via fast switching Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 827–828, WILEY-VCH Verlag, 2016, ISSN: 1617-7061. |

31. | Observer design based on constant-input observability for DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 813–814, WILEY-VCH Verlag, 2016, ISSN: 1617-7061. |

30. | Duality of switched ODEs with jumps Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 4879–4884, 2015. |

29. | Distributional averaging of switched DAEs with two modes Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 3616–3620, 2015. |

28. | On detectability of switched linear differential-algebraic equations Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2957–2962, 2015. |

27. | Averaging for non-homogeneous switched DAEs Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2951–2956, 2015. |

26. | A preliminary result on synchronization of heterogeneous agents via funnel control Inproceedings Proc. 54th IEEE Conf. Decis. Control, Osaka, Japan, pp. 2229–2234, 2015. |

25. | Controllability characterization of switched DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 643–644, WILEY-VCH Verlag, 2015, ISSN: 1617-7061. |

24. | Partial averaging for switched DAEs with two modes Inproceedings Proc. 2015 European Control Conf. (ECC), Linz, Austria, pp. 2896–2901, 2015. |

23. | Topological solvability and index characterizations for a common DAE power system model Inproceedings Proc. 2014 IEEE Conf. Control Applications (CCA), pp. 9–14, IEEE 2014. |

22. | Nondecreasing Lyapunov functions Inproceedings Proc. 21st Int. Symposium Math. Theory Networks Systems (MTNS), pp. 1038–1043, 2014. |

21. | Controllability of switched DAEs: The single switch case Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 15–18, Wiley-VCH Verlag GmbH, 2014. |

20. | An observer for switched differential-algebraic equations based on geometric characterization of observability Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 5981–5986, 2013. |

19. | Regularity and passivity for jump rules in linear switched systems Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 4030–4035, 2013, ISSN: 0191-2216. |

18. | An averaging result for switched DAEs with multiple modes Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 1378 - 1383, 2013. |

17. | Averaging for switched DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 489–490, WILEY-VCH Verlag, 2013, ISSN: 1617-7061. |

16. | On averaging for switched linear differential algebraic equations Inproceedings Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland, pp. 2163 – 2168, 2013. |

15. | The bang-bang funnel controller: time delays and case study Inproceedings Proc. 12th European Control Conf. (ECC) 2013, Zurich, Switzerland, pp. 1669–1674, 2013. |

14. | Switched behaviors with impulses - a unifying framework Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 3203-3208, 2012, ISSN: 0743-1546. |

13. | Linear switched DAEs: Lyapunov exponents, a converse Lyapunov theorem, and Barabanov norms Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 2666–2671, 2012, ISSN: 0191-2216. |

12. | Observability of switched differential-algebraic equations for general switching signals Inproceedings Proc. 51st IEEE Conf. Decis. Control, Maui, USA, pp. 2648–2653, 2012. |

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