Robust switching control design for uncertain discrete-time switched affine systems

This article focuses on the design of a robust switching control law for uncertain switched affine systems in the discrete-time domain. More precisely, a novel control law is introduced whose parameters result from an optimization problem, aiming at reducing the volume of the attractive and invariant set, where the solutions to the closed-loop system converge to. The design is based on a quadratic Lyapunov function and guarantees global practical stabilization, that is, global stabilization in a neighborhood of a desired operating point and robustness with respect to model uncertainties. Our method and the associated relaxed control law are then compared with existing conditions from the literature and are validated through numerical examples.