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Robust stabilization of switched nonlinear systems subject to actuator saturation

This paper investigates the robust stabilization problem of general switched nonlinear systems subject to actuator saturation under arbitrary switching paths. Firstly, the robust stabilization of nonlinear switched Hamiltonian systems with actuator saturation is studied, the saturation function is expressed by a control input and compensation, then several sufficient conditions are derived and an H∞ controller is designed for robust stabilization of the system. Secondly, by utilizing the results obtained for nonlinear switched Hamiltonian systems, the robust stabilization problem of general switched nonlinear systems subject to actuator saturation is solved via the Hamiltonian realization methods. Finally, a simulation example is given to show the effectiveness of the proposed methods and results.