The impulse-based discrete feedback control has been proposed in previous
work for the second-order motion systems with damping uncertainties. The
sate-dependent discrete impulse action takes place at zero crossing of one of
both states, either relative position or velocity. In this paper, the proposed
control method is extended to a general hybrid motion control form. We are
using the paradigm of hybrid system modeling while explicitly specifying the
state trajectories each time the continuous system state hits the guards that
triggers impulsive control actions. The conditions for a stable convergence to
zero equilibrium are derived in relation to the control parameters, while
requiring only the upper bound of damping uncertainties to be known. Numerical
examples are shown for an underdamped closed-loop dynamics with oscillating
transients, an upper bounded time-varying positive system damping, and system
with an additional Coulomb friction damping.Comment: 6 pages, 4 figures, IEEE conferenc
