This paper deals with the problem of designing a switching controller, which includes several linear time-invariant (LTI) controllers designed beforehand and independently for a specific LTI plant with corresponding H2 control performance criteria. It is possible to find suitable state space realizations for any given family of controller transfer matrices, which guarantee not only certain H2 performance of the overall closed-loop system under arbitrary switching but also the corresponding H2 performance of local subsystems at each switching point. The effectiveness of the proposed method is demonstrated with a numerical example.
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