Input-output transition models for discrete-time switched nonlinear systems

Switched systems are usually given in the state space form, as state space models provide a more complete description of the system dynamics. In practice, however, we often make use of input-output models for identification and control purposes. Vast literature acknowledges that if we have one input-output model corresponding to each subsystem of the switched system, then at the switching instants, none of these input-output models can properly describe the system behavior. In our earlier work, we derived for switched linear systems the explicit form of the input-output models at the switching instants, which are termed as the transition model. In this paper, we show that similar input-output transition models also exist for switched nonlinear systems. Simulation shows that utilizing these transition models improves the identification of switched nonlinear systems significantly.