Switching control for multi-input cascade nonlinear systems

In this paper we extend earlier work on switching control of single-input nonlinear systems to the multi-input case. We consider the control of partially linear cascade systems and give sufficient conditions under which feedback of the linear states with switching gains guarantees both exponential stability of the linear subsystem and positive invariance of a compact region in state space. Asymptotic stability follows under some additional assumptions which, in many cases, are weaker than ISS or growth assumptions on nonlinearities. Simulation results are presented showing the performance of the controller. The extension to non-cascade systems is briefly discussed at the end.