A toolbox for computational analysis of piecewise linear systems

This paper reports the development of a Matlab toolbox for computational analysis of piecewise linear systems. The analysis is based on piecewise quadratic Lyapunov functions, which are computed via convex optimization. In this way, exponential stability and system performance can be assessed. The toolbox also supports efficient simulation of systems with discontinuous dynamics and sliding modes. A set of intuitive commands for describing piecewise linear systems is included, making the analysis routines easily accessible also for the inexperienced user.