Input-to-state stability of discontinuous dynamical systems with an observer-based control application

In this paper we will extend the input-to-state stability (ISS) framework to continuous-time discontinuous dynamical systems adopting Filippov's solution concept and using non-smooth ISS Lyapunov functions. The main motivation for adopting non-smooth ISS Lyapunov functions is that "multiple Lyapunov functions" are commonly used in the stability theory for hybrid systems. We will show that the existence of a non-smooth (but Lipschitz continuous) ISS Lyapunov function for a discontinuous system implies ISS. Next, we will prove an ISS interconnection theorem for two discontinuous dynamical systems that both admit an ISS Lyapunov function. The interconnection will be shown to be globally asymptotically stable under a small gain condition. The developed ISS theory will be applied to observer-based controller design for a class of piecewise linear systems using an observer structure proposed by the authors. The LMI-based design of the state feedback and the observer can be performed separately.