Flatness-based Switching Control

In this paper, a flatness-based switching controller approach is proposed. This approach is developed in discrete-time framework in order to track a reference trajectory starting from a flat output variable. For each model, a corresponding flatness-based controller is designed and consequently, a multi-controller structure is obtained. The switching flatness-based control is based on switching between identified models in different operation modes. The Luenberger observer's gains are determined using LMI tools in order to identify the corresponding model. The performances obtained by switching in terms of tracking trajectory and fault rejection are discussed in this paper and the stability of the corresponding switched discrete-time linear systems is given. The correspondent controller of identified model is applied to the real system tracking in consideration the reference trajectory generated from different flat outputs.