Summary - provides new insights on properties of PWA systems, including stability, stabilizability, reachability and controllability - presents a unified framework for analysis and synthesis of both continuous-time and discrete-time PWA systems - presents novel approaches for stability analysis and control design based on the promising SOS techniques - contains applications of PWA system techniques to mechanical systems, such as disk servo systems As a powerful tool to study nonlinear systems and hybrid systems, piecewise affine (PWA) systems have been widely applied to mechanical systems. Control and estimation of piecewise affine systems presents several research findings relating to the control and estimation of PWA systems in one unified view. Chapters in this title discuss stability results of PWA systems, using piecewise quadratic Lyapunov functions and piecewise homogeneous polynomial Lyapunov functions. Explicit necessary and sufficient conditions for the controllability and reachability of a class of PWA systems are considered along with Controller and estimator design methods for PWA systems using linear matrix inequality (LMI) and bilinear matrix inequality (BMI) techniques. A PWA approach to a class of Takagi-Sugeno fuzzy system is discussed in depth. The book uses a number of mechanical systems, such as disk servo systems to illustrate the advantages of the proposed methods. About the Authors Jun Xu is a staff engineer in the Department of Advance Servo Technology, Western Digital, Singapore. Lihua Xie is a professor in Department of Control and Instrumentation, Nanyang Technological University, Singapore.

He is a Fellow of the IEEE and IFAC. Contents Unified view of continuous- and discrete-time PWA systems; Stability conditions based on SOS polynomials (partition-dependent or vertex-dependent Lyapunov functions); Controllability and reachability; H and generalized H2 controller design; H and generalized H2 estimator design; Control of Takagi-Sugeno fuzzy system; Applications in mechanical systems.".