{
  "abstract": "This article investigates the robust regulation of discrete-time Hamiltonian systems via set-valued twisting-like feedback laws. We consider systems affected by matched disturbances and dissipative set-valued forces. Robust global finite-time stability is achieved through a set-valued feedback law constructed via nonsmooth potential-energy shaping and set-valued damping injection. The controller is implemented using a backward-Euler scheme, which naturally preserves the set-valued structure of the feedback and mitigates digital chattering. Finite-time stability and energy-balance properties are established. Numerical simulations on a simple nonlinear robotic system illustrate the theoretical developments.",
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  "affiliations": [],
  "article_type": null,
  "arxiv": null,
  "author_total": 3,
  "authors": [
    {
      "name": "Félix Miranda-Villatoro"
    },
    {
      "name": "Fernando Castaños"
    },
    {
      "name": "Bernard Brogliato"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/fs73xqe5p1spy.bib",
  "cited_by": 0,
  "doi": null,
  "fulltext_url": null,
  "id": "fs73xqe5p1spy",
  "issns": [],
  "landing_url": "https://hal.science/hal-05785834v1",
  "language": "en",
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "https://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": null,
  "native_subjects": [
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      "hal",
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    ],
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  "openalex": null,
  "pdf_url": "https://hal.science/hal-05785834/document",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-08",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/fs73xqe5p1spy.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:17:50Z",
      "native_id": "hal-05785834",
      "source": "hal",
      "url": "https://hal.science/hal-05785834v1"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "hal:1.math.math-ds",
      "subfield": "dynamical-systems"
    },
    {
      "field": "mathematics",
      "origin": "hal:1.math.math-oc",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Set-Valued Robust Control of Discretized Hamiltonian Systems",
  "title_text": "Set-Valued Robust Control of Discretized Hamiltonian Systems",
  "type": "preprint",
  "updated_at": "2026-10-30T12:17:50Z",
  "url": "https://research.draconitic.com/paper/fs73xqe5p1spy",
  "venue": "HAL",
  "versions": []
}