Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
The study investigates switching between different sets of output functions (melds) for nonlinear systems that can be feedback-linearized. Switching causes state-dependent coordinate mismatches not covered by standard analysis. The research provides explicit dwell-time conditions and a compatibility constant to guarantee exponential decay of tracking errors and uniform boundedness of the state error across switches.