Global input-to-state stability and stabilization of discrete-time piecewise affine systems

This article presents conditions for global input-to-state stability (ISS) and stabilization of discrete-time, possibly discontinuous, piecewise affine (PWA) systems. Piecewise quadratic, possibly discontinuous candidate ISS Lyapunov functions are employed for both analysis and synthesis purposes. This enables us to obtain sufficient conditions based on linear matrixinequalities, which can be solved efficiently. One of the advantages of using the ISS framework is that additive disturbance inputs are explicitly taken into account in the analysis and synthesis procedures. Furthermore, the results apply to PWA systems in their full generality, i.e. non-zero affine terms are allowed in the regions in the partition whose closure contains the origin