Controladores Chaveados em Sistemas PWA Implícitos com Atuadores Saturantes Assimétricos

Abstract

This work deals with the exponential stabilization of discrete-time and piecewise related systems, using an implicit representation. In particular, the case of saturating actuators with asymmetric saturation limits is treated. The contributions of this proposal are i) a methodology that involves the alternation of nonlinear (via differential evolution algorithm) and convex optimization steps for the synthesis of the state feedback controller, ensuring local exponential stability with a given exponential convergence rate and respective estimation of the region of attraction to the origin; and ii) a proposal for a controller switching strategy that increases the convergence rate as the trajectory reaches specific regions, and the estimate of the region of attraction is given by the union of regions associated with each controller. Numerical examples illustrate the technique.