Continuity Conditions for Piecewise Quadratic Functions on Simplicial Conic Partitions are Equivalent

Abstract

Analysis of continuous-time piecewise linear systems based on piecewise quadratic (PWQ) Lyapunov functions typically requires continuity of these functions over a partition of the state space. Several conditions for guaranteeing continuity of PWQ functions over state space partitions can be found in the literature. In this technical note, we show that these continuity conditions are equivalent over so-called simplicial conic partitions. As a consequence, the choice of which condition to impose can be based solely on practical considerations such as specific application or numerical aspects, without introducing additional conservatism in the analysis.