ABSTRACT
This chapter introduces a hybrid methodology to design nonlinear robust control systems able to go beyond the classical linear limitations. Combining robust controller designs and stable switching, the new system optimizes the time response of the plant by fast adaptation of the controller parameters during the transient response according to certain rules based on the amplitude of the error. The methodology is based on both a graphical frequency-domain stability criterion for switching linear systems and the use of the robust QFT control system design technique. Switching control has demonstrated to be an efficient tool in achieving tight performance specifications in control systems. Switching control has demonstrated to be an efficient tool in achieving tight performance specifications in control systems. The chapter also introduces a nonlinear switching robust controller design methodology, including a graphical frequency-domain criterion to ensure the system stability and several illustrative examples.
