## Classification

# of variables # of modes # of jumps
3 4 5
Type Continuous dynamics Guards & Invariants Resets
hybrid non-linear polynomial non-linear polynomial identity

 Flow* nonholonomic.model

## Model description

A simplified version of the hybrid control for Brockett’s non-holonomic integrator is described by the following ODE.

wherein , are the control inputs defined by

## Reachability settings

We consider the initial set , and .

## Results

The following figures show an over-approximation computed by Flow* for the time horizon :

## References

[1] J. Hespanha, A. Morse. Stabilization of nonholonomic integrators via logic-based switching. In Automatica, volume 35(3), pages 385–393, Elsevier, 1999.