Switches in real systems take many forms, such as impacts, electronic relays, mitosis, and the implementation of decisions or control strategies. To understand what is lost, and what can be retained, when we model a switch as an instantaneous event, requires a consideration of so-called hidden terms. These are asymptotically vanishing outside the switch, but can be encoded in the form of nonlin...

This paper is concerned with the problem of stabilization and L2-gain analysis for a class of switched nonlinear systems with norm-bounded time-varying uncertainties. A system in this class is composed of two parts: a uncertain linear switched part and a nonlinear part, which are also switched systems. When all the subsystem are stabilizable and have a L2-gain, the switched feedback control law...

This paper proposes several definitions of observability for nonlinear systems and explores relationships among them. These observability properties involve the existence of a bound on the norm of the state in terms of the norms of the output and the input on some time interval. A Lyapunov-like sufficient condition for observability is also obtained. As an application, we prove several variants...

This paper presents robust switching control strategies for switched nonlinear systems with constraints on the control inputs. First, a model transformation is proposed in a way that the constraint on the continuous control inputs is relaxed. Next, the effect of disturbance is taken into account and the L2-gain analysis and H∞ control design problem for switched nonlinear systems are formulated...

The paper discusses a sliding mode control suitable for compensation of nonlinear microdynamic friction and parameter changes in a ball-screw driven slide system. The conventional, fixed-gain sliding mode control has a limited range of performance in the presence of varying nonlinear friction in submicrometer trajectory tracking. In this work, an algorithm that effectively calculates variable s...

This paper presents a technique for designing switching rules that drive the state of a class of nonlinear switched system to a desired constant reference. The system may contain state-dependent sector-bounded nonlinear functions. The proposed method considers a switching rule using the ‘max’ composition of auxiliary functions. The results are given in terms of Linear Matrix Inequalities (LMIs)...

A supervisory scheme is proposed that implements Stepwise Safe Switching Logic. The functionality of the supervisory scheme is organized in the following eight functional units: StepWise Safe Switching unit, Common controllers design unit, Experimentation unit, Simulation unit, Identification unit, Trajectory cruise unit, Operating points unit and Expert system unit. The supervisory scheme orch...