Robust invariance control of a class of uncertain cascade nonlinear systems

In this paper, robust invariance switching control problem for a class of multi-input uncertain nonlinear cascade systems with structural uncertainties is studied. By using methods of passivity and switching control of states of the linear subsystem, both stabilization of the linear subsystem and invariance of the specified region in state space can be guaranteed simultaneously. Hence, a sufficient condition for the robust invariance switching control of this class of systems is derived. Under some additional assumptions, the whole system is semi-global asymptotically stable (Semi-GAS). Input-state stability (ISS) assumptions or linear growth conditions on nonlinearities are not required. Simulation results demonstrate the effectiveness of the proposed design.