Robust passivity, feedback passification and global robust stabilisation for switched non-linear systems with structural uncertainty

This study examines the issues of robust passivity, feedback passification and global stabilisation for a class of switched non-linear system with structural uncertainty. First, a sufficient condition for such a system to be robust passive is given by the design of a state-dependent switching law. Second, a state-dependent switching law and state feedback controllers are designed to render the resulting closed-loop system robust passive. Finally, a recursive feedback passification design technique is developed to achieve the global stabilisation problem when the subsystems have any uniform vector relative degree. A numerical example is presented to illustrate the effectiveness of the proposed approach.