Robust and decentralised output regulation of switched non-linear systems with switched internal model

This study investigates the global robust output regulation problem for a class of switched non-linear systems with stabilisable and unstabilisable subsystems. First, this study proposes a new concept, namely switched internal model, as an extension of the concept of non-switched internal model, which provides a tool for solving the output regulation problem of switched non-linear systems. Also, the authors show that the problem of output regulation boils down to a global robust regulation problem of an appropriately switched augmented system via a switched internal model. Then, the global robust regulation problem under a class of switching signals with average dwell time is solved by using the average dwell time method, which leads to the solution of the problem of global robust output regulation. Further, the authors apply this type of switched internal models above to solve the global decentralised output regulation problem for a class of large-scale switched non-linear systems with stabilisable and unstabilisable subsystems. An example is provided to demonstrate the effectiveness of the proposed approach.