Robust tracking control of switched nonlinear systems via the multiple Lyapunov function approach

This paper addresses the problem of robust tracking control for a class of switched nonlinear systems via the multiple Lyapunov functions (MLFs) approach. First, a state feedback controller and a state dependent switching law are designed to assure global asymptotic output and state tracking with zero tracking error in the steady state by using linear matrix inequalities (LMIs). Then, the tracking control method is formulated such that the robust H_∞ tracking performance is achieved. Finally, an example is provided to demonstrate the effectiveness of the main results.