Hybrid control systems: A design case study

The paper describes a design case study which explores the hybrid control of a distributed system comprising linked inverted pendulums. First a continuous controller is designed for each pendulum mechanism to provide low-level stabilization and profiled motion control. The paper then addresses the problem of developing a production-line style system using two loosely interconnected pendulum mechanisms and associated product-transfer manipulators. A supervisory system is developed using compositional methods and is modelled and analysed using controlled Petri nets.