Robust switched control of MIMO multi-model plants

The paper deals with robust switched controller design for MIMO plants under arbitrary switching. Two design approaches are compared. First, a novel frequency domain switched controller design procedure is used based on the small gain theory guaranteeing closed-loop stability of the multi-model plant in all operation modes and stable switching between them. To guarantee robust stability in individual operation modes the Equivalent Subsystems Method is developed. Secondly, a state-space approach is applied; a robust static output feedback controller is designed based on a small modification of a heuristic approach developed for switched model predictive control design. Effectiveness of both design approaches is verified via simulations on a MIMO plant model. Resulting controllers are compared in terms of achieved closed-loop performance.