Output Feedback smooth switching control design for switched uncertain linear parameter-varying systems

In this article, a new method is proposed to design robust dynamic output feedback control for switched uncertain continuous-time linear parameter varying (LPV) systems. The system matrices are supposed to depend on both the time-varying scheduling and uncertain parameters. Hysteresis switching law is exploited for the switching controller synthesis. Firstly, the robust switching controllers are robustly designed so that the stability and the induced L2-gain performance of the switched closed-loop uncertain LPV system can be guaranteed. The usual switching logics can cause discontinuous chattering control signal which are not acceptable in a practical situation. Accordingly, a smooth switching strategy for control design has been tackled in the following. By utilizing an independent family of parameter-dependent Lyapunov matrices and slack variables, performance improvement is achieved when compared to the previous works. The proposed method is formulated in terms of solutions to a set of parameter-dependent LMIs using the presented iterative algorithm. Finally, an inverted pendulum on a cart is illustrated to verify the advantages of the presented approach.