is an ad hoc designed parameter related to the range of the
affected neighboring subsystems.
If the stability issue is the highest consideration, thus allowing
for increased conservatism, then, only one (N þ 1 ¼ 1) controller
is designed for all M þ 1 subsystems, or | M=2; . . . ; |; . . . ; | þM=2
(under the assumption that D ¼ M=2). This fixed time-invariant
controller (du ¼ Sd~Z) stabilizes any linearized system ðA; BÞ
within the convex hull defined by the (Ai ; BiÞ; i ¼ 0; . . . ;M vertices,
or ðA; BÞ 2 CofðA0; B0Þ; . . . ; ðAM; BMÞg.
There is no guarantee that this fixed linear time-invariant
controller when applied to the nonlinear system will stabilize it,
nor that it can stabilize the set of all linearized systems when
switchings of the control occur. The promise is that when there is
a slow switching process, then this single PID controller will
stabilize any switched linear system ðAðtÞ; BðtÞÞ 2 CofðAi ; BiÞ;
i ¼ 0; . . . ;Mg.
Furthermore if M increases then the approximation of the
nonlinear system by a large number of linearized systems is more
accurate. This allows the interpretation of the solution to the
system’s nonlinear dynamics