Practical output tracking of switched nonlinear systems in -normal form with unstable subsystems

Lijun Long and Jun Zhao

International Journal of Systems Science, 2016, vol. 47, issue 11, 2709-2721

Abstract: This paper studies practical output tracking of switched nonlinear systems in p-normal form. No solvability of the practical output tracking problem for subsystems is required. A constructive scheme to solve the problem for a switched nonlinear system is set up by exploiting the single Lyapunov function method and the tool of adding a power integrator. Also, we design a proper switching law and construct state-feedback controllers of subsystems. A two inverted pendulums as a practical example, which cannot be handled by the existing approaches, illustrates our theoretical result.

Date: 2016
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DOI: 10.1080/00207721.2015.1018367

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