抄録
The control method based on the Time-state control form can easily apply linear control theory to the controller design of chained systems. However, this method requires the switches of the signs of control gains when the time axis is switched. The conditions for stabilization of the system including the switches were derived by presenting a common Lyapunov function. In this paper, the switches of absolute values of control gains also are considered. The stability of the controlled system is guaranteed if the basic continuous-time linear system is stable and the parameter that modifies gain values is positive. The parameter is able to be switched independently of the time axis. The switching of the parameter showed some availability in numerical simulations of an auto parking problem.
