An Invariance Principle for Nonlinear Switched Systems非线性切换系统的不变性原理.pdf

An Invariance Principle for Nonlinear Switched Systems A. Bacciotti and L. Mazzi Dipartimento di Matematica del Politecnico di Torino C.so Duca degli Abruzzi, 24 - 10129 Torino - Italy bacciott@calvino.polito.it — luisa.mazzi@polito.it Abstract In this paper we address the problem of extending La Salle Invariance Principle to switched system. We prove an extension of the invariance principle relative to dwell-time switched solutions, and a second one relative to constrained switched systems. Keywords: switched systems, stability, invariance principle, dwell time 1 Introduction In spite of their apparent simplicity, switched systems may exhibit a very complicated dynamical behavior. For instance, an example in [8] shows that the LaSalle invariance principle does not apply to switched systems, at least as long as we are interested in asymptotic stability under completely arbitrary switching (other examples will be discussed later). By imposing appropriate restrictions about the admissible trajectories, global asymptotic stability results are proved in [8] for linear switched systems with multiple Liapunov functions, and satisfying a special observability condition. Later on, the results of [8] have been extended in [9] to nonlinear switched systems. Since the decrease conditions are expressed by means of non-strict inequalities, the results of [8], [9] (in particular, Theorem 7 and 9 in [9]) can be interpreted as extensions of the LaSalle invariance principle. In the present paper, by following a different, more traditional approach, we obtain a different extension of the LaSalle invariance principle. It applies to switched systems defined by finite families of continuous (nonlinear) vect