Adaptive control of piecewise linear systems

Recently the control of hybrid system has attracted many research efforts. However, few studies have been made on hybrid systems with unknown parameters. In this paper, adaptive controller design is explored for a class of hybrid systems called piecewise linear systems, based on the concept of the polynomial constraints which can decouple the model parameters from the inference of the discrete state and the switching mechanism. The validity of the proposed controller design method is examined in numerical simulations, in which a simple hybrid system consisting of two second-order subsystems and two-mass system with backlash.