Ultimate bound minimisation by state feedback in discrete-time switched linear systems under arbitrary switching

We present a novel state feedback design method for perturbed discrete-time switched linear systems. The method aims at achieving (a) closed-loop stability under arbitrary switching and (b) minimisation of ultimate bounds for specific state components. Objective (a) is achieved by computing state feedback matrices so that the closed-loop subsystem evolution matrices generate a solvable Lie algebra (namely, they are all upper triangular in a common coordinate basis). Previous results derived an iterative algorithm that computes the required feedback matrices, and established conditions under which this procedure is possible. Based on these conditions, objective (b) is achieved by exploiting available degrees of freedom in the iterative algorithm.