Both transient and stationary control scenarios are studied in this book. Transient control tasks are tackled by a tailored extension of receding horizon model-predictive control. On this basis, procedures for the successive exploration of switching surface configurations and, alternatively, for a dynamic switching law realization are presented. Stationary control tasks are tackled by a systematic design of switching plane configurations. Here, strong focus is put on disturbance attenuation. The associated design problem is translated into a set of linear or bilinear matrix inequalities, which are solved via standard tools.
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