A mechatronic industrial machine, controlled as PWL system

In this paper we formulate the problem of modelling and controlling a real mechatronic industrial machine, as a piecewise linear (PWL) system, by partitioning the state-space into polyhedral regions, and associating with each region a different linear state space equation. We approximate the nonlinear dynamics with arbitrary accuracy via multiple linearizations to work at different operating points. We present also the study of the performance of the controller as piecewise linear law. In this paper we present some of the results we obtained that show the performance and accuracy of a model for a real industrial application.