Output Regulation for Switched Systems With Multiple Disturbances

This article aims at proposing a regulation anti-disturbance control scheme for switched systems encountered by multiple disturbances, including the measurable disturbance and unmeasurable disturbance, through a multiple Lyapunov functions method. A switched estimator is developed for estimating the unmeasurable disturbance, under which a switched regulator and a switching law are co-designed to regulate the system output, while resisting the influence of the disturbances on the switched systems. Sufficient conditions are provided to ensure the output regulation performance and the disturbance restrain performance for the switched systems, even if all subsystems may not have the performances. These conditions are also appropriate for non-switched systems. By applying the established regulation anti-disturbance control method to the regulation of the speed for an engine model, the validity of the control scheme is displayed.