Finite‐Time Incremental Passivity of Switched Nonlinear Systems and Its Application

ABSTRACT This article focuses on the finite‐time incremental passivity of switched nonlinear systems and its application to the output tracking control. First, a new definition of finite‐time incremental passivity definition is given for switched nonlinear systems. Compared with the existing definition, the growth of energy may happen at switching times and during active time interval, while at least an active subsystem is finite‐time incrementally passive on its active time interval. Second, a sufficient condition of finite‐time incremental passivity is provided. Based on this condition, a design method of a switching law dependent on state information is proposed. It is generalization of ‘min’İ switching law. Third, it is verified that the output can track the reference signal in finite time by output feedback, even if only an active subsystem is finite‐time incrementally passive. Finally, the validity of the developed theoretical results is verified by two examples.