INVARIANT SETS FOR SWITCHED DISCRETE TIME SYSTEMS SUBJECT TO BOUNDED DISTURBANCES ⋆

Abstract: This paper addresses invariant set computation for discrete-time switched systems subject to bounded disturbances. Specifically, we show how to compute the maximal robust switched invariant set C̃S∞, which we define to be the set of states which can be made robust invariant by an appropriate switching law. Furthermore it is demonstrated how the maximal robust reachable set K̃S∞(Ω) can be computed, i.e., all states which can be robustly steered into the target set Ω by an appropriate switching law. We also show how these sets may be used to obtain a minimum time controller for switched systems, i.e., a controller which robustly steers the state into a given target set in minimal time. Copyright c©2005 IFAC