Hybrid Dynamical Systems

A graduate-level textbook, Hybrid Dynamical Systems provides an accessible and comprehensive introduction to the theory of hybrid systems. It emphasizes results that are central to a good understanding of the importance and role of such systems. The authors have developed the materials in this book while teaching courses on hybrid systems, cyber-physical systems, and formal methods.


This textbook helps students to become familiar with both the major approaches coloring the study of hybrid dynamical systems. The computer science and control systems points of view – emphasizing discrete dynamics and real time, and continuous dynamics with switching, respectively – are each covered in detail.


The book shows how the behavior of a system with tightly coupled cyber- (discrete) and physical (continuous) elements can best be understood by a model simultaneously encompassing all the dynamics and their interconnections. The theory presented is of fundamental importance in a wide range of emerging fields from next-generation transportation systems to smart manufacturing.
Features of the text include:

• extensive use of examples to illustrate the main concepts and to provide insights additional to those acquired from the main text;
• chapter summaries enabling students to assess their progress;
• end-of-chapter exercises, which test learning as a course proceeds;
• an instructor’s guide showing how different parts of the book can be exploited for different course requirements; and
• a solutions manual, freely available for download by instructors adopting the book for their teaching.

Access to MATLAB and Stateflow is not required but would be beneficial, especially for exercises in which simulations are a key tool.

“It is self-contained ... and is of great importance for students and researchers in the field.” (Savin Treanta, zbMATH 1497.93002, 2022)

Professor Hai Lin obtained his B.S. degree at the University of Science and Technology Beijing and his M.S. degree from the Chinese Academy of Sciences in 1997 and 2000 respectively. In 2005, he received his Ph.D. degree from the University of Notre Dame.  Professor Lin is currently a full Professor at the Department of Electrical Engineering, University of Notre Dame. Before returning to his alma mater, he had been working as an assistant professor in the National University of Singapore from 2006 to 2011. His teaching and research interests are in the multidisciplinary study of the problems at the intersections of control, formal methods and machine learning. His current research thrust is on cyber-physical systems, multi-robot cooperative tasking, human machine collaboration, robotic manipulation and legged locomotion. Professor Lin has served on several committees and editorial boards, including IEEE Transactions on Automatic Control (2014-2019). He is currently serving as the Chair for the IEEE CSS Technical Committee on Discrete Event Systems. He served as the Program Chair for IEEE ICCA 2011, IEEE CIS 2011 and the Chair for IEEE Systems, Man and Cybernetics Singapore Chapter for 2009 and 2010. He is a senior member of IEEE and a recipient of 2013 NSF CAREER award.

Panos Antsaklis is the H.Clifford and Evelyn A. Brosey Professor of Electrical Engineering and Concurrent Professor of Computer Science and Engineering and of Applied and Computational Mathematics and Statistics at the University of Notre Dame. He is a graduate of the National Technical University of Athens, Greece, and holds MS and PhD degrees from Brown University. His research addresses problems of control and automation and examines ways to design control systems that will exhibit a high degree of autonomy. His current research focuses on Cyber-Physical Systems and the interdisciplinary research area of control, computing and communication networks, and onhybrid and discrete event dynamical systems. 

In addition to publications in journals, conference proceedings, book chapters and encyclopedias, he has co-authored two graduate textbooks on Linear Systems, three research monographs - one on model-based control of networked systems and two on supervisory control of discrete event systems, and has co-edited six books on Intelligent Autonomous Control, Hybrid Systems and Networked Embedded Control Systems. He is the recipient of several teaching awards at the University of Notre Dame.

He is IEEE, IFAC and AAAS Fellow, recipient of the 2006 Engineering Alumni Medal of Brown University, and holds an Honorary Doctorate from the University of Lorraine in France. He is the recipient of the 2013 Faculty Award and the 2020 Research Achievement Award of the University of Notre Dame.

He has been a plenary and keynote speaker in a number of conferences, and he is the Founding President of the Mediterranean Control Association and co-Editor-in-Chief of the journal Foundations and Trends in Systems and Control. He served as the Chair of the Scientific Advisory Board of the Max-Planck-Institute in Magdeburg, Germany for 6 years. He is a recipient of the IEEE Millennium Medal and he is a Distinguished Member and a Distinguished Lecturer of the IEEE Control Systems Society, where he also served as its President in 1997. He served as the Editor-in-Chief of the IEEE Transactions on Automatic Control, one of the leading journals in the field of Control Systems for 8 years, 2010-2017.