Discrete-time supervisory control of input-constrained neutrally stable linear systems via state-dependent dwell-time switching

This paper presents a discrete-time supervisory control scheme for an input-constrained neutrally stable linear plant in the presence of modelling uncertainties. The small gain control is employed as the multi-controller, and is shown to stabilize the plant in the sense of integral-input-to-state stability. As the switching logic, a state-dependent dwell-time switching is employed. The proposed supervisory control guarantees that all signals in the closed loop are bounded and the state of the uncertain plant converges to the origin.