Stability of Nonlinear Discrete Repetitive Processes with Switching

In this paper, stability conditions of nonlinear discrete repetitive processes with switching are established. The approach is based on the development of a method that uses vector Lyapunov functions and a property of the counterpart of its divergence. This method was earlier proposed by the authors for repetitive processes without switching. An illustrative example of an iterative learning control problem with switching in the pass direction is given.