Backstepping controller synthesis for piecewise affine systems: A sum of squares approach

摘要: This paper addresses backstepping controller synthesis for piecewise affine (PWA) systems. The main contribution of the is to formulate design a large class PWA systems as convex problem. Integrator proposed principal step in constructing Lyapunov functions strict feedback form. problem divided into two cases. first case consists construction sum squares (SOS) function with discontinuous vector fields. second polynomial continuous After (piecewise) function, system can be formulated an SOS program, which optimization and efficiently solved. new method applied numerical example.