Stabilization of non-minimum phase switched nonlinear systems with the concept of multi-diffeomorphism

In this paper we propose a control approach for the stabilization of a class of switched nonlinear systems where each mode may be non-minimum phase. The proposed approach is based on the exact input-output linearization and the Lyapunov stability theory. The main contribution in this work is to elaborate a strategy of switching that recourse to the concept of multi-diffeomorphism makes it possible to guarantee an improvement of the transient state compared to a feedback linearization based on one diffeomorphism. Specifically, we show the sufficient condition for the exponential stability and the exponential upper bound of the trajectory of the switched system. The theoretical results are applied to a non-minimum phase inverted cart-pendulum in order to illustrate the effectiveness of the proposed approach.