| The reachability problem has received significant attention in the hybrid control literature with many questions still left unanswered. This thesis solves the general problem of reaching a set of facets of an n-dimensional simplex in finite time, for a system evolving with linear affine dynamics. Necessary and sufficient conditions are presented in the form of inequalities on the vertices of the simplex, and a linear affine controller is constructed that solves the reachability problem. Special attention is given to systems with n - 1 independent inputs. |
