Output-input dependent switching function design for switched affine systems with ℋ∞ performance

In this paper an output-input dependent switching function for continuous-time switched affine systems assuring global asymptotic stability and a guaranteed ℋ_∞ performance level is provided. It is supposed that each equilibrium point belongs to a set of attainable ones to be determined. The switching function is a novel proposal which depends not only on the measured output but also on the external input. Its determination is obtained together with the design of a dynamic full order switched affine filter, which is essential for the switching rule implementation. The design conditions do not require that the open-loop subsystems be stable and outperform other techniques available in the literature to date. The results are compared with recent ones based on a quadratic Lyapunov function and on a max-type Lyapunov function. Numerical examples illustrate the validity and efficiency of the theoretical results and are used for comparisons.