Output regulation of a class of switched linear systems with saturated continuous feedback

This paper considers the output regulation problem for a class of switched linear systems with actuator saturation. Firstly, we present the regulator equation which should be solvable in order to achieve output regulation. Secondly, we study the regulatable region, being the set of initial conditions for which output regulation can be achieved. Thirdly, we present saturated continuous feedback control law and switching strategy solving the output regulation problem. The Lyapunov-based design of the controller and switching strategy is based on convex hull of multiple quadratic Lyapunov functions. The effectiveness of the results are illustrated by means of an example.