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Adaptive control of piecewise linear systems: The state tracking case

This paper studies the adaptive state feedback for state tracking control problem for piecewise linear systems, which are approximations of nonlinear controlled systems at multiple operating points. Piecewise linear reference model systems are studied and used for generating state trajectories. Adaptive schemes are developed using Lyapunov design methods, and their stability and tracking performance are analyzed and evaluated by simulation examples. Asymptotic tracking performance of such an adaptive control system with a sufficiently rich reference input is shown by simulation results, indicating that certain persistent excitation conditions can be sufficient for ensuring the desired asymptotic tracking in the presence of repetitive system switchings.