On Switched Control Design of Linear Time-Invariant Systems with Polytopic Uncertainties

Figure 5

Position 𝑦(𝑡)=𝑥₁(𝑡), velocity 𝑥₂(𝑡), and electric current 𝑖(𝑡) of the controlled system, using the switched controller (30)-(31) (continuous line) and the classic controller (4) (dotted line), considering 𝑦₀=0.09m and 𝑚=0.08Kg,   and  𝑦₀=0.05m and 𝑚=0.04Kg, 𝑦₀=0.08m and 𝑚=0.05Kg, for 𝑡∈[0,2), 𝑡∈[2,4), and 𝑡≥4s, respectively, with decay rate 𝛽=5, constraint on controller gains 𝜂=7 and 𝜂_𝑥=10 and 𝜉=10⁻⁴.

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