Hybrid partition machines with disturbances: hierarchical control via partition machines

The notions of finite analytic partition, dynamical consistency, and partition machine, originally developed by Caines et al. (1998) and Wei (1995) for dynamical systems on differentiable manifolds, are generalized to hybrid systems with disturbances. A disturbance rejection hierarchical hybrid control theory is introduced and applied to a multi-tank example and a highly simplified air traffic management example.