Switched control design with guaranteed cost for uncertain nonlinear systems subject to actuator saturation

This manuscript proposes a robust switched controller design with minimization of an upper bound of a quadratic performance index (guaranteed cost) related to the system output for a class of uncertain nonlinear systems with actuator saturation described by Takagi-Sugeno (TS) fuzzy models. The switched control eliminates the necessity of finding or estimating the membership functions, which can be uncertain or complex to obtain. In most practical implementations, systems and actuators have physical limitations. Therefore, in order to approximate the theoretical switched controller design closer to its implementation, it will be considered that the system has an operating region and control signal saturation. The proposed switched controller design will be implemented in a bench active suspension system considering actuator saturation with uncertain mass and actuator fault. A comparison will be shown between robust single-gain and switched controller with the same design parameters.