Output regulation for switched discrete-time linear systems via error feedback: an output error-dependent switching method

This study considers the output regulation problem of switched discrete-time linear systems via dual design of error feedback and a switching law. The authors consider the case that the states of both the controlled system and the exosystem are unavailable. Also, no solvability of the output regulation problem for each subsystem is required. They only use the available information provided by the measured output tracking error to design the switching law and controllers to solve the output regulation problem of the switched system. In addition, they adopt different coordinate transformations instead of common coordinate transformation and they study the case that the exosystem is a switched system which can make the tracked trajectories more sophisticated.