Practical output tracking control for switched nonlinear systems: A dynamic gain based approach

This paper addresses the practical output tracking problem for a class of switched nonlinear systems with unstable subsystems. By using the single Lyapunov function (SLF) method and developing a dynamic gain based approach, the dynamic controllers of individual subsystems and a proper switching law are constructed to guarantee that all the signals of the closed-loop system are globally bounded while the tracking error between output and reference signal can be arbitrary small after a finite time. Two examples are given to demonstrate the effectiveness of the proposed control scheme.