Comparison of logic-based switching control designs for a nonlinear system

We consider an example of a second order nonlinear system with large parametric uncertainties. The two parameters of the system are assumed to belong to a finite set. The goal is to guarantee (practical) convergence of the system output to a given constant reference signal. Feedback linearization-based candidate controllers with pole placement are designed for each possible set of parameters. After that, we consider the design of a high-level logic-based supervisor to organize switching between these candidate controllers. Three different approaches are used and compared.