Switching control of \(H_\infty\) gain scheduled controllers in uncertain nonlinear systems (Q1571099)

The aim of the paper is to propose a switched \(H_\infty\) gain scheduled controller for uncertain nonlinear systems with exogenous signals. Each controller is designed at distinct operating conditions by \(H_\infty\) synthesis, and guarantees the robustness over the specified operating range to the exogenous signals. For the constructed controller set, one derives a switching condition on the measured scheduling variable and its derivative value, for the stability of the resulting closed-loop switched system. In order to illustrate the effectiveness of the approach, the proposed control scheme is applied to the tracking control of the reference air gap in electromagnetic suspension systems, which provide highly nonlinear and unstable dynamics.