In recent papers [1,2], the notions of Input-to-State Stability (ISS) and Integral ISS (iISS) have been generalized for systems evolving on manifolds and having multiple invariant sets, i.e. multistable systems. The well-known property of conservation of ISS under cascade interconnection has also been proven true for multistable systems in different scenarios [3]. Unfortunately, multistability hampers a straightforward extension of analogous conservation properties for integral ISS systems. By means of counterexamples, this work highlights the necessity of the additional assumptions which yield the conservation of the iISS and Strong iISS properties in cascades of multistable systems. In particular, a characterization of the invariant set of the cascade is provided in terms of its finest possible decomposition.
['Paolo Forni', 'David Angeli']
Cascades of iISS and Strong iISS systems with multiple invariant sets