Adaptive control for state dependent switched systems in Brunovsky form

In this work an adaptive strategy for state dependent switching systems in Brunovsky form is presented. Lyapunov direct method is used to derive the adaptive control law to track a given reference signal. The resulting controller is equipped with a set of adaptive gains able to tackle plant commutations. Control gains are adapted through a feedback law depending on the state space region visited by the system trajectories. A consistent proof of convergence of the tracking error is given and a numerical example is used to illustrate the analytical result.