Robust output regulation of switched nonlinear systems with stabilizable and unstabilizable subsystems

This paper studies the global robust output regulation problem for a class of switched nonlinear systems with stabilizable and unstabilizable subsystems. First, a switched internal model concept is proposed, which provides a tool for solving the output regulation problem of switched nonlinear systems. Also, we show that the problem of output regulation boils down to a global robust regulation problem of a proper switched augmented system via a switched internal model. Then, based on the average dwell time method, the global robust regulation problem under a class of switching signals with average dwell time is solved, which leads to the solution of the problem of global robust output regulation.