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This paper addresses the dynamic output feedback control problem for a class of discrete-time planar switched nonlinear systems with time-varying delays and multiple subsystems. First, the virtual state feedback control law is designed based on adding a power integrator approach. Secondly, the nonlinear reduced-order compensator is designed for the subsystems of the planar switched nonlinear systems under arbitrary switchings. Then, the dynamic output feedback controller is constructed based on the virtual state feedback control law and the nonlinear reduced-order compensator. By introducing the new discrete Lyapunov–Krasovskii functional, it can be seen that the solutions of the closed-loop system converge to an adjustable bounded region. Compared with the previous works, the subsystems of this planar switched system may contain the uncontrollable/unobservable Jacobian linearizations. In addition, the obtained results are further extended to the general nonlinear case and one-link manipulator case with the motor dynamics. Finally, two simulation examples are performed to show the effectiveness of the proposed method.

advances in difference equations

Dynamic output feedback control based on virtual feedback control law for planar switched nonlinear systems with time-varying delays and multiple subsystems