Robust predictive control of switched systems: Satisfying uncertain schedules subject to state and control constraints

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Stability, ${l}_{2}$ -Gain and Asynchronous ${H}_{{\infty}}$ Control of Discrete-Time Switched Systems With Average Dwell Time (2009, background): “2 In fact, the necessities of considering the asynchronous switching for efficient control design have been shown in mechanical or chemical systems [25], [26] with determining the admissible delay of asynchronous switching.”