Output-feedback controller design for switched systems under graph-constrained switching

Abstract

Switched systems operating under a switching constraint are commonly paired with a digraph encoding the possible mode switches. Thereby, edges are associated with the modes of the switched system and the vertices encode the mode switching history. To control those switched systems under graph-constrained switching, an established method is to design vertex-dependent controllers, that is one controller gain per vertex of the graph, which has lead to various results for static feedback controllers. In this paper, we explore the design of edge-dependent controllers. Edge-dependency allows to synthesize dynamic output feedback controllers in a convex manner by means of a Linear Matrix Inequality problem with the additional requirement that the active mode is known. Further, we show that edge-dependency offers a potentially less conservative static output feedback controller design compared to vertex-dependent controllers. We illustrate our results by a numerical example.