Direct design of switching control system by VRFT -application to vertical-type one-link arm-

In a control of nonlinear system, switching controllers are generally used. This paper treats a direct design problem of designing switching controllers for a nonlinear system from I/O data. Our proposed design method is direct in a sense that no model identification of the controlled plant is required, and it needs only a single set of data generated by the system with no need for some experiments nor iterations. In order to design switching controllers, this paper uses an idea of identification of hybrid system techniques. The effectiveness of the proposed method is verified by experiments.