Switching rule design for affine switched systems using a max-type composition rule

This paper presents conditions for designing a switching rule that drives the state of the switched dynamic system to a desired equilibrium point. The proposed method deals with the class of switched systems where each subsystem has an affine vector field and considers a switching rule using ‘ max ’ composition. The results guarantee global asymptotic stability of the tracking error dynamics even if sliding mode occurs at any switching surface of the system. In addition, the method does not require a Hurwitz convex combination of the dynamic matrices of the subsystems. Two numerical examples are used to illustrate the results.