The smooth switching control for TORA system via LMIs

This paper investigates the smooth switching control approach for linear parameter varying systems with applications to the nonlinear translational oscillator with rotational actuator (TORA) systems. In the smooth switching control, the control law for neighboring subsystems is smoothly switched or scheduled in the overlapped region instead of the usual instant switching methods. The design approach is presented in terms of the obtained maximum relative stability under control input and system output variables constraints. The control law is constructed based on the formulated linear matrix inequality conditions. As shown, the designed performance can be reasonably improved with the increase of number of partitions of the considered varying parameters range.