Dissipativity-based stable controller redesign for nonlinear MIMO switched systems in the presence of perturbations

This paper offers a control redesign method for a class of nonlinear MIMO perturbed dissipative switched systems. The controller for the nominal switched system without perturbation is considered to have been designed based on dissipativity. The nominal model is considered affine with perturbations in both nonlinear terms. The controller is then redesigned such that the dissipativity of the switched system with perturbations is maintained by including a robustifying term in the control law. The design is developed for the two cases of 2-norm and infinity-norm bounded perturbations. The proposed method is applied to a nonlinear MIMO switched system to verify the convergence of the state vector to the origin in the presence of perturbations.