Switching control of feedback linearizable systems using multi-diffeomorphism

Abstract

Since the control input of a feedback linearizable system depends on the diffeomorphism, the transient behavior of the controlled system is different. In this paper, we propose a switching rule for selecting a diffeomorphism so that the transient behavior is improved and the switched system is stable. Specifically, we show the sufficient condition for the exponential stability and the exponential upper bound of the trajectory of the switched system.