A reference tracking strategy for affine switched systems

In this paper we propose a method for designing switching rules that enforce the state of the switched dynamic system to track a given reference signal. The method deals with the class of switched systems where each mode of operation is represented by a dynamical system with an affine vector field. The reference model is also represented by an affine vector field allowing for the method to cope with sinusoidal, step and ramp reference signals. The results are given in terms of linear matrix inequalities and they guarantee global asymptotic stability of the tracking error dynamics. A numerical example illustrates the approach.