Predictor-Feedback Stabilization of Linear Switched Systems with State-Dependent Switching and Input Delay

Abstract: We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a given, state-dependent switching rule, an implementable formula for the predictor state can be derived in a way analogous to the case of nonlinear systems with input delay. We establish uniform exponential stability of the corresponding closed-loop system via a novel construction of multiple Lyapunov functionals, relying on a backstepping transformation that we introduce. We validate our design in simulation considering a switching rule motivated by communication networks.