Output Regulation in Discrete-Time Switched Bimodal Systems Based on Youla Parameterized Stabilizing Controllers

<table>Experimental results of the performance variable and the positions of the tip and of the contact surface in the presence of <svg height="16.450001" id="M305" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 18.65 16.450001" width="18.65" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><use xlink:href="#x1D451"></use></g>
<g transform="matrix(.012,-0,0,-.012,9.5,16.25)"><use xlink:href="#x1D464"></use></g>
</svg> and obtained using the controller designed by accounting for the <svg height="15.25" id="M306" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 21.362499 15.25" width="21.362499" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><use xlink:href="#x1D43B"></use></g>
<g transform="matrix(.012,-0,0,-.012,14.975,15.187)"><use xlink:href="#x32"></use></g>
</svg> performance constraint.</table>

Mathematical Problems in Engineering

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Figure 8

Figure 8: Output Regulation in Discrete-Time Switched Bimodal Systems Based on Youla Parameterized Stabilizing Controllers 