Robust state-dependent switching of linear systems with dwell time

Liron I. Allerhand, Uri Shaked

Research output: Contribution to journalArticlepeer-review


A state-dependent switching law that obeys a dwell time constraint and guarantees the stability of a switched linear system is designed. Sufficient conditions are obtained for the stability of the switched systems when the switching law is applied in presence of polytopic type parameter uncertainty. A Lyapunov function, in quadratic form, is assigned to each subsystem such that it is non-increasing at the switching instants. During the dwell time, this function varies piecewise linearly in time. After the dwell, the system switches if the switching results in a decrease in the value of the LF. The method proposed is also applicable to robust stabilization via state-feedback. It is further extended to guarantee a bound on the L2-gain of the switching system; it is also used in deriving state-feedback control law that robustly achieves a prescribed L2-gain bound.

Original languageEnglish
Article number6298941
Pages (from-to)994-1001
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number4
StatePublished - 2013


  • Dwell time
  • linear switched systems
  • polytopic uncertainties
  • state-dependent switching
  • switching law design


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