Nonlinear generalized minimum variance control of linear hybrid automata

This paper investigates the linear hybrid automata(LHA) model. Under some certain conditions, linear hybrid automata(LHA) can be converted into their equivalent state-dependent space models, where equivalence means that the two systems generate the same trajectory. The controller of state-dependent space model can be designed by using a nonlinear generalized minimum variance(NGMV) algorithm. NGMV controller is designed for a very general nonlinear model, which can include a set of delay terms and external disturbances. The controller is easy to be computed and implemented. Simulation results show that the NGMV algorithm can control linear hyprid automata effectively, and satisfying effect is obtained under the condition of time delay, disturbance and noise exsiting in the system.