Stability of hybrid system limit cycles: application to the compass gait biped robot

  • Hiskens I
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Limit cycles are common in hybrid systems. However the nonsmooth dynamics of such systems makes stability analysis difficult. This paper uses recent extensions of trajectory sensitivity analysis to obtain the characteristic multipliers of nonsmooth limit cycles. The stability of a limit cycle is determined by its characteristic multipliers. The concepts are illustrated using a compass gait biped robot example

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  • I.A. Hiskens

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