Direct design of switching control system by SVR-based VRFT -Application to vetrical-type one-link arm-

A switching control is one of effective control schemes for a class of nonlinear systems. This paper addresses a direct design problem of designing switching controllers for a class of nonlinear systems 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. In order to design switching controllers, this paper uses an idea of an identification technique of hybrid systems. The proposed method can design switching controllers by a model-free controller tuning and clustering, and decide the switching condition. The effectiveness of the proposed design method is verified by simulations.