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This paper investigates controllability of a class of hybrid systems modeled by a hybrid machine consisting of an automaton for discrete events and a dynamic system for continuous variables. Control of discrete events is achieved by forcing some forcible events and disabling some controllable events. Depending on which events are forcible and/or controllable and on the connectivity of the automaton, the hybrid system may or may not be controllable. For the case that all events are controllable and forcible and the automaton is strongly connected, a necessary and sufficient condition for controllability is obtained, using some existing results on controllability of switched linear systems. For three other cases, sufficient conditions are derived. An example of an autonomous electric vehicle is given to illustrate the results. |
