Adaptive control of a class of arbitrarily switched uncertain nonlinear systems with predefined output accuracy
1Department of Chemical and Petroleum Engineering, Sharif University of Technology, P.O. Box 11155-9465, Tehran, Iran
2Department of Chemical and Petroleum Engineering, Sharif University of Technology, Tehran, Iran
3Sharif University of Technology
In this paper controller design for a class of switched nonlinear systems in lower triangular form with unknown functions in the presence of input saturation and arbitrary switching has been addressed. A fuzzy approximator has been used to estimate the unknown system dynamics. By means of a nonnegative switching function and backstepping technique, it has been shown that the closed-loop system is semi-globally uniformly ultimately bounded (SGUUB) and all of the state tracking errors converge to a predefined neighborhood of the origin. By applying the proposed control scheme to two isothermal series CSTRs with two different switching feeds and recycle stream has been demonstrated via simulation study.