Two different types of control strategy used to safely implement supervisory commands of
hybrid dynamical systems are compared. Both approaches considered switch between
members of a family of control agents to ensure that constraints on the plant state are not
violated at any time. The first approach is motivated by a hybrid system architecture outlined
by Kohn and Nerode (1993) and uses a Fliess functional series of the plant's output to form a
system of linear inequalities characterizing safe control inputs. Control signals are …

This paper compares two different types of control strategies used to safely implement
supervisory commands of hybrid dynamical systems. Both approaches considered in this
paper switch between members of a family of control agents to ensure that constraints on the
plant state are not violated at any time. The first approach is motivated by a hybrid system
architecture outlined in [7] and uses a Fliess functional series of the plant's output to form a
system of linear inequalities characterizing safe control inputs. Control signals are …