Stability Preserving Simulations and Bisimulations for Hybrid Systems

Pavithra Prabhakar, Geir E. Dullerud and Mahesh Viswanathan

Pre-orders and equivalence relations between processes, like simulation and bisimulation, have played a central role in the minimization and abstraction based verification and analysis of discrete-state systems for modal and temporal properties. In this paper, we investigate the pre-orders and equivalence relations on hybrid systems which preserve stability. We first show that stability with respect to reference trajectories is not preserved by either the traditional notion of bisimulation or the more recently proposed stronger notions with additional continuity constraints. We introduce the concept of uniformly continuous simulation and bisimulation — namely, simulation and bisimulation with some additional uniform continuity conditions on the relation — that can be used to reason about stability of trajectories. Finally, we show that uniformly continuous simulations and bisimulations are widely prevalent, by recasting many classical results on proving stability of dynamical and hybrid systems as establishing the existence of a simple, obviously stable system that (bi)-simulates the given system through uniformly continuous (bi)-simulations. We also discuss briefly a new abstraction method for stability analysis which is based on the foundations developed in the paper.

IEEE Transactions on Automatic Control (TAC), 2015
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