Fast-sampling tracking systems incorporating Lur´e plants with multiple switching nonlinearities

The class of Lur´e plants with multiple switching nonlinearities which are amenable to fast-sampling error-actuated digital control is characterised in terms of the properties of the transfer function matrices of the linear components of such plants. It is shown that this characterisation greatly facilitates the synthesis of closed-loop digital control systems incorporating such Lur´e plants which exhibit state-bounded absolutely stable tracking. These general results are illustrated by synthesizing a fast-sampling tracking system incorporating a Lur´e plant with two switching nonlinearities.