Switching controller design for linear time-invariant plant with H2 performance criterion

This paper deals with the problem of designing a switching controller, which includes several linear time-invariant (LTI) controllers designed beforehand and independently for a specific LTI plant with corresponding H-2 control performance criteria. It is possible to find suitable state space realizations for any given family of controller transfer matrices, which guarantee not only certain H-2 performance of the overall closed-loop system under arbitrary switching but also the corresponding H-2 performance of local subsystems at each switching point. The effectiveness of the proposed method is demonstrated with a numerical example.