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Robust Switched Control of Nonlinear Continuous-Time Systems

Vojtech Veselý(1), Adrian Ilka(2*)

(1) Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Slovakia
(2) Department of Signals and Systems, Chalmers University of Technology, Sweden
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v10i2.9796

Abstract


This paper presents a novel approach to robust switched controller design developed for continuous-time nonlinear systems with arbitrary switching signal. As a basis of our controller design we have applied the gain-scheduling approach. It ensures the robust multi parameter-dependent quadratic stability and guaranteed cost. The obtained requirements for robust stability and performance are translated to an optimization problem in light of bilinear matrix inequality (BMI) constraints. Finally, the obtained controller design properties are validated on simulation examples.
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Keywords


Switched Control; Robust Control; Gain Scheduling; Lyapunov Function; Continuous-Time Nonlinear Systems

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References


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