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Stabilisation of discrete 2D time switching systems by

state feedback control
a
Abdellah Benzaouia , Abdelaziz Hmamed , Fernando Tadeo & Ahmed EL Hajjaji
Faculty of Science Semlalia , LAEPT-EACPI,University Cadi Ayyad , P.B. 2390, Marrakech,

Morocco
b
Faculty of Sciences Dhar EL Mhraz , LESSI, University Mohamed Ben Abdellah , BP 1796,
Fes, Morocco
c
Departamento de Ingenieria de Sistemas y Automatica , Universidad de Valladolid , 47005

Valladolid, Spain
d
MIS University of Picardie Jules-Vernes , 7 Rue du Moulin Neuf, 80000 Amiens, France
Published online: 26 Nov 2010.
To cite this article: Abdellah Benzaouia , Abdelaziz Hmamed , Fernando Tadeo & Ahmed EL Hajjaji (2011) Stabilisation of
discrete 2D time switching systems by state feedback control, International Journal of Systems Science, 42:3, 479-487, DOI:
10.1080/00207720903576522
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Vol. 42, No. 3, March 2011, 479487
Stabilisation of discrete 2D time switching systems by state feedback control

Abdellah Benzaouiaa*, Abdelaziz Hmamedb, Fernando Tadeoc and Ahmed EL Hajjajid
a
Faculty of Science Semlalia, LAEPT-EACPI,University Cadi Ayyad, P.B. 2390, Marrakech, Morocco; bFaculty of Sciences
Dhar EL Mhraz, LESSI, University Mohamed Ben Abdellah, BP 1796, Fes, Morocco; cDepartamento de Ingenieria de
Sistemas y Automatica, Universidad de Valladolid, 47005 Valladolid, Spain; dMIS University of Picardie Jules-Vernes,
7 Rue du Moulin Neuf, 80000 Amiens, France
Downloaded by [UZH Hauptbibliothek / Zentralbibliothek Zrich] at 13:14 27 June 2014
(Received 17 July 2009; final version received 6 December 2009)

This article deals with sufficient conditions of asymptotic stability for discrete two-dimensional (2D) time
switching systems represented by a model of Roesser type with state feedback control. This class of systems can
correspond to 2D state space or 2D time space switching systems. This work is based on common and multiple
Lyapunov functions. The results are presented in LMI form. Two examples are given to illustrate the results.
Keywords: switching systems; 2D time systems; Roesser model; stabilisability; multiple Lyapunov functions;
LMIs
1. Introduction
In many modelling problems of physical processes,
a two-dimensional (2D) switching representation is
needed. One can cite a 2D physically based model for
advanced power bipolar devices (Igic, Towers, and
Mawby 2004) and heat flux switching and modulating
in a thermal transistor (Lo, Wang, and Li 2008). This
class of systems can correspond to 2D state space or
2D time space switching systems.
Switched systems are a class of hybrid systems
encountered in many practical situations that involve
different modes of operation (corresponding to different subsystems). Thus, a switching system consists of a
family of subsystems and a set of rules that decides the
switching between them. This class of systems has
numerous applications in the control of mechanical
systems, the automotive industry, aircraft and air
traffic control, switching power converters and many
other fields. According to the classification given in
Blanchini and Savorgnan (2006), two main problems
have been studied in the literature: the first problem
is to obtain testable conditions that guarantee the
asymptotic stability under arbitrary switching rules
(Mignone, Ferrari-Trecate, and Morari 2000; Daafouz,
Riedinger, and Iung 2002; Bara and Boutayeb, 2006);
the second problem is to determine a switching
sequence that renders the switched system asymptotically stable (see Liberzon and Morse 1999; Lin and
Antsaklis, 2007 and references therein). The extension
*Corresponding author. Email: benzaouia@ucam.ac.ma

ISSN 00207721 print/ISSN 14645319 online
2011 Taylor & Francis
DOI: 10.1080/00207720903576522
http://www.informaworld.com
to saturated switching linear systems is given in Boukas

and Benzaouia (2002), Benzaouia, Saydy, and Akhrif
(2004), Benzaouia, Akhrif, and Saydy (2006, 2010),
and Benzaouia, DeSantis, Caravani, and Daraoui
(2007), while the positive switching systems are presented in Benzaouia and Taedo (2010). The most
available methods for switching systems use the
quadratic common Lyapunov function. However, it
was recently proven for switching systems (Shorten
and Narendra, 1997, 1998; Branicky, 1998) that the use
of the multiple Lyapunov function leads to better
results in the sense that a common Lyapunov quadratic
function may not exist while a multiple one exists. This
class of systems has had much development to deal
with almost all the problems in control, as in Lian,
Zhao, and Dimirovski (2009), Liu, Liu, and Xie (2009),
Xiang and Xiang (2009), Wang, Zhao, and Dimirovski
(2009).
In the last two decades, the 2D system theory has
been paid considerable attention by many researchers.
The 2D linear models were introduced in the 1970s
(Givone and Roesser 1972; Fornasini and Marchesini
1976, 1978) and have found many applications, such as
in digital data filtering, image processing (Roesser
1975), modelling of partial differential equations
(Marszalek 1984), etc. It is well known that 2D systems
can be represented by different models such as the
Roesser model, FornasiniMarchesini model and
Attasi model. For a complete description of these
480
A. Benzaouia et al.
models and methods to transform the system from one

model type to another, one can refer the work by
Kaczorek (1985).
In connection with Roesser and Fornasini
Marchesini models, some important problems such as
realisation, controllability and minimum energy control
have been extensively investigated (see e.g. Kaczorek,
1997). On the other hand, the stabilisation problem is
not fully investigated and still not completely solved.
The stability of 2D discrete linear systems can be
reduced to checking the stability of the 2D characteristic polynomial (Wu-Sheng and Lee 1985; Anderson,
Agathoklis, Jury, and Mansour 1986). This appears to
be a difficult task for the control synthesis problem. In
the literature, various types of easily checkable but
only sufficient conditions for asymptotic stability and
stabilisation problems for 2D discrete linear systems
have been proposed (Yaz 1985; Lu 1994; Galkowski,
Rogers, Xu, Lam, and Owens 2002; Hmamed, Alfidi,
Benzaouia, and Tadeo 2008).
This article is interested in discrete 2D time switching systems described with the Roesser model. To the
best of our knowledge, no works have directly considered 2D switching systems with arbitrary switching
sequences before, except for the work of the same
authors on the stability of 2D switching systems
(Benzaouia, Hmamed, and Tadeo 2009). One can only
cite the work of Wu, Shi, Gao, and Wang (2008), where
the process of switching is considered as a Markovian
jumping one. First of all, the present work focuses on
the understanding of the switching occurring for the 2D
systems. To this end, a new time basis definition is
proposed. As a consequence of this, an adequate
indicator function is derived to model the discrete 2D
time switching systems. This background enables one to
study the stabilisability problem of switching systems
when the switching sequence is arbitrary. Hence,
common Lyapunov quadratic and multiple Lyapunov
functions are used for this class of systems for the first
time in this work. In this context, sufficient conditions
of stabilisability are presented. Furthermore, these
conditions are presented in the form of a set of LMIs
for the state feedback control case.
This article is organised as follows. Section 2 deals
with the problem statement while some preliminary
results are given in Section 3. The main results of this
work with illustrative examples are presented in
Section 4.
2. Problem statement
In this section, the system under study is presented.
Particular attention is given to understanding the
switching of 2D systems. Hence, to model discrete-time
switching systems, a new time basis definition together

with the adequate indicator function are developed.
This article deals with switching systems described
by the following Roesser model:
x k, l A xk, l B uk, l ,
xh 0, l f l , xv k, 0 gk
with
xk, l
"
#
xh k, l
,
xv k, l
A11
A
A21
"
x k, l

A12
,
A22
#
xh k 1, l
, 2
xv k, l 1

B1
B
,
B2
where xh(k, l ) is the horizontal state in Rn1, xv(k, l ) is

the vertical state in Rn2, x(k, l ) is the whole state in Rn
with n n1 n2, u(k, l ) is the control vector in Rm, is
a switching rule which takes its values in the finite set
I : {1, . . . , N}, N is the number of subsystems (modes)
and k and l are integers in Z. Matrices
A11 2Rn1 n1 , A12 2Rn1 n2 , A21 2Rn2 n1 , A22 2Rn2 n2 , B1 2
Rn1 m , B2 2Rn2 m are constant.
It is assumed that
. the switching system is stabilisable;
. at each time only one subsystem is active;
. the switching rule is not known a priori but its
value is available at each sampling period.
As reported by the cited references, the third assumption corresponds to practical implementations where
the switching system is supervised by a discrete-event
system, or operator, allowing for the value of to be
known at each sampling period in real time.
The evolution of the 2D system (1) shows that (k, l )
is varying according to one direction at each time: to
compute the horizontal state (resp. the vertical state) at
coordinate (k 1, l )(resp. (k, l 1)), one needs to know
both the horizontal and vertical states at coordinate
(k, l ). For example, to compute the states at k l 2
(coordinates of the points (2, 0), (1, 1) and (0, 2)
situated on the same line, as shown in Figure 1), one
needs to use the states for all the possible values of
(k, l ) with k l 1 (coordinates of the points (1, 0) and
(0, 1) situated on the same line, as shown in Figure 1).
That is, to compute the states xh(k 1, l ), xv(k, l 1),
k l 1, one has to compute the states xh(1, 1),
xv(1, 1), xh(2, 0), xv(0, 2) by using xh(0, 1), xv(0, 1),
xh(1, 0), xv(1, 0). This fact can be shown by Figure 1 for
k, l 0, . . . , 3. Thus, the 2D system causality imposes
an increment depending only on k l. For this, the
switch can be assumed to occur only at each sampling
of k or l, that is each .
The following definition extends the one given for
1D by Lygeros, Tomlin, and Sastry (1999) based on .
481
P
Note that i 0; N
i1 i 1. Hence, the
problem we are dealing with consists of designing the
gains F() that stabilise the 2D closed-loop switching
system (8). Our goal is to propose an algorithm that
uses the LMI framework, to facilitate the computation
of the feedback controller gains.
0
0
Figure 1. How to compute the states at coordinates (k 1, l )

and (k, l 1) situated on the same line with respect to the
previous ones at coordinates (k, l ) for k, l 0, . . . , 3 situated
on the same previous line.
Definition 2.1: A hybrid time basis is a finite or

i g, with
infinite sequence of sets Ii f 2 ZS
: i
I

Z
,
where
i i1 for i 2 L {0, . . . , L},
i
i2L
system (1) evolves with i. If the sequence is finite,
one may take card() L 1 5 1 and L 1, then
IL may be of the form IL { 2 Z : L 5 1}.
In this work, we are interested on the synthesis of a
stabilising controller for this class of hybrid systems.
The following state feedback control law is used:
uk, l F xk, l
3. Preliminary results
A useful stability result for 2D linear systems, which is
based on the Lyapunov function, is recalled in this
section. For this, consider the following 2D
discrete-time autonomous system:

x k, l Axk,
l :
10
Theorem 3.1 (Anderson et al. 1986): The 2D system

(10) is asymptotically stable if there exists a positive
definite matrix of the form

P
P1
P2

,
11
with P1 2 Rn1n1 and P2 2 Rn2n2, such that,

A T PA P 5 0
12
and the following is a Lyapunov function of the system:

Vxk, l xT k, l Pxk, l :
13
Note that this result is obtained with the following

rate of increase:
with
F F1
F2 ,
where matrices F1 2 Rmn1 , F2 2 Rmn2 , which writes

the closed-loop system as
x k, l A B F xk, l :
Since the switching is assumed to occur only at each ,

the following indicator function is proposed:
1 , . . . , N T ,
if the switching system is in mode i, then i() 1 and

j() 0 for j 6 i, so one can write the closed-loop
system (6) as follows:
x k, l
N
X
i Ai Bi Fi xk, l Ac xk, l
i1
N
X
i1
4. Main result
This section presents sufficient conditions of asymptotic stability using either a common quadratic or
multiple Lyapunov functions for 2D discrete-time
switching systems given in the Roesser model. The
design using LMIs of the corresponding stabilising
controllers is also established.
4.1. Common quadratic Lyapunov function

The following result proposes a necessary and sufficient condition for the 2D closed-loop switching
system (8) to admit a common quadratic Lyapunov
function.
Theorem 4.1:
equivalent:
with
Ac
4Vxk, l xT k, l Px k, l xT k, l Pxk, l :
i Ai Bi Fi :
The following two statements are
(i) There exists a Lyapunov function of the form

(13) whose difference is negative definite,
482
A. Benzaouia et al.
proving global asymptotic stability of the 2D
switching system (8) for any arbitrary sequence
of switching.
(ii) There exist positive definite matrices
P1 2 Rn1n1 and P2 2 Rn2n2 such that
2
3
P1 0 i11 T i21 T
6 P i T i T 7
2
6
7
12
22
14
6
7 4 0 8i 2 I
4
5

P1
0
1

P1
2
with
i11 Ai11 B1i F1i ,
i12 Ai12 B1i F2i ,
i21 Ai21 B2i F1i ,
i22 Ai22 B2i F2i
15
and denoting the transpose of the corresponding

off-diagonal term.
Proof 1: (ii) ! (i): Consider the Lyapunov function
candidate V(x(k, l)) given by (13) with the form (11)
and compute its rate of increase:
4Vxk, l xT k, l Px k, l xT k, l Pxk, l

xT k, l Ac T PAc P xk, l :
This rate of increase is negative if
Ac T PAc P 5 0:
Using the Schur complement, one obtains
"
#
P Ac T P
4 0:

P
Substituting (9) in (17), leads to
"
#
N
X
P Ai Bi Fi T P
i
4 0:

P
i1
A sufficient condition to have (18) is given by
"
#
P Ai Bi Fi T P
4 0 8i 2 I :

P
16
Following the same reasoning as before, condition

(14) is obtained.
This result can be used to synthesise the stabilising

controller under LMIs form.
Theorem 4.2: If there exist positive definite matrices
X1 Rn1 n1 , X2 2 Rn2n2 and matrices Yi1 2 Rmn1 and
Yi2 2 Rmn2 such that
2
3
X1 0 i11 T i21 T
6 X2 i T i T 7
12
22
6
7 4 0 8i 2 I
20
4

X1
0 5

X2
with
i11 Ai11 X1 B1i Yi1 ,
i12 Ai12 X2 B1i Yi2 ,
i21 Ai21 X1 B2i Yi1 ,
i22 Ai22 X2 B2i Yi2 ,
then the 2D switching system (8) is globally asymptotically stable for any arbitrary sequence of switching.
The corresponding controller gains are given by
Fi Yi1 X1
1
Yi2 X1
2
21
1
with P1 X1
1 and P2 X2 .
Proof 2: The sufficient condition of stability of the

switching system is given by (16). Pre and post
multiplying by X P1, leads to
X XAc T X1 Ac X 4 0:
17
18
19
Further, pre- and post-multiplying (19) by diag

{I, P1} while substituting matrices Ai, Bi, Fi and P
according to (3), (5) and (11), respectively, inequalities
(14) are directly obtained. That is, the 2D switching
system (8) is globally asymptotically stable for any
sequence of switching.
(i) ! (ii): Assume that function V(x(k, l )) given by
(13) with the form (11) is a Lyapunov function for
system (8). Then, its rate of increase 4V(x(k, l )) 5 0.
This implies that inequality (18) holds true. If the
switching system is in mode i, one has j() 1, for j i
and j() 0 for j 6 i. That is (19) is satisfied.
Applying the Schur complement gives

"
#
X Ac XT
4 0:

X
"
#
N
X
X Ai X Bi Fi XT
i
4 0:

X
i1
22
23
Let Yi FiX . A sufficient condition to have (23) is

"
#
X Ai X Bi Yi T
4 0 8i 2 I :
24

X
By substituting matrices Ai, Bi according to (3),
1
and
X diag{X1, X2} with X1 P1
1 , X2 P2
i
i
Yi Y1 Y2 the LMIs (20) are directly obtained.
Finally, the stabilising controller gains of the 2D
switching system (8) are given by Fi YiX1.
Expression (21) follows.
Example 4.1: Consider now the example of two long

transmission lines. We assume that one can switch
from a line to another arbitrarily. The system
483

equations as presented in Kaczorek (1985) are given by
@ux, t
@ix, t
L
vx, t,
@x
@t
25
@ix, t
@ux, t
C
,
@x
@t
where C(), L() are the capacity and the inductance of
the portion of the line of length 4x, v(x, t) is the control
assumed here to be the voltage per metre in the upside
of the line. Using the approximations:
@ux, t uk, l uk 1, l
,
@x
4x
26
@ux, t uk, l 1 uk, l
,
@t
4t
one can use the following change of coordinates for
the current and the voltage: uh(k, l ) u(k 1, l ) and
4t
4t
uv(k, l ) u(k, l ), r L4x
and s C4x
. Define
v

h

u k, l
u k, l
h
v
:
, x k, l v
x k, l h
i k, l
i k, l
The system (25) can then be transformed to a 2D
switching Roesser model given by (1) with:
3
2
0
0
1 0
6 0

0
0 17
7
6
A1 6
7; BT1 0 0 0 r1 ;
4 0 r1 1 r1 5
2
s1
0
6 0
6
A2 6
4 0
s2
0
0
s1
1
0
r2
0
1
1
3
0
17
7
7;
r2 5
s2

BT2 0 0 0 r2 :
In this example, n1 2, n2 2 and m 1. For r1 0.5,

s1 0.8, r2 0.1, s2 0.4, the LMI solver of Matlab
is used to solve LMIs (20) leading to feasible solutions
in X1, X2, Y1 and Y2. The matrix P and the gain
controllers F1, F2 are then derived by using relations
(21) as follows:

0:0030 0:0014
0:0242 0:0186
, P2
,
P1
0:0014 0:0050
0:0186 0:0224

F1 1:0052 0:8278 3:3565 3:3766 ,

F2 0:9818 0:8851 12:3782 13:4408 :
In order to save space, the trajectories of the states,
which are asymptotically stable, are not plotted.
Consider now the following numerical example:
2
3
2
3
3
0 1
1 0
A1 4 1 4 1 5; B1 4 0 1 5,
1 5 1
1 1
2
3
2
3
1 0 1
1 1
A2 4 0 2 1 5, B2 4 0 1 5:
0:4 1 1
1 0
The LMIs (20) are not feasible.
4.2. Multiple Lyapunov function

Although the existence of a common quadratic
Lyapunov function for the various subsystems guarantees the asymptotic stability of the switching system,
such a function is not always possible and might lead
to conservative results. Thus, this subsection studies
the use of multiple Lyapunov functions. These multiple
Lyapunov functions are considered to be a strong tool
in the analysis of the stability of switching systems.
Consider the following multiple Lyapunov function
candidate.
#xk, l xT k, l Pxk, l
X

N
xT k, l
i Pi xk, l :
27
i1
Define
"
Pi
Pi1
0
#
0
:
Pi2
28
The following result proposes a necessary and sufficient condition for the 2D closed-loop switching
system (8) to admit a multiple Lyapunov function.
Theorem 4.3:
equivalent.
The following two statements are
(i) There exists a Lyapunov function of the form

(27) whose difference is negative definite, proving global asymptotic stability of the 2D
switching system (8) for any arbitrary sequence
of switching.
(ii) There exist positive definite matrices Pi1 2Rn1 n1 ,
Pi2 2 Rn2 n2 , i 1, . . . , N such that
2 i
3
P1 0 i11 T i21 T
6 Pi2 i12 T i22 T 7
6
7 4 0 8i, j 2 I 2 , 29
4
P j 1
0 5
1
P2j 1
where ij are given by (15).

Proof 3: (ii) ! (i): Consider the Lyapunov function
candidate #(x(k, l)) given by (27) with the form (28)
and compute its rate of increase:
4#xk, l xT k, l P x k, l xT k, l Pxk, l

xT k, l Ac T P Ac P xk, l ,
with
P
N
X
"
j 1
j1
P1j
P2j
#
:
Note that
P
N
X
j1
j 1Pj :
30
484
A. Benzaouia et al.
This rate of increase is negative if

Ac T P Ac P 5 0:
Using the Schur complement, one obtains

"
#
P Ac T P
4 0:

P
with
31
32

"
#
N X
N
X
Pi Ai Bi Fi T Pj
i j 1
4 0:

Pj
i1 j1
It follows that the set of inequalities
"
#
Pi Ai Bi Fi T Pj
4 0 8i, j 2 I 2

Pj
33
forms a sufficient condition to have 4#(x(k, l )) 5 0.

Further, pre- and post-multiplying (33) by diagfI, P1
j g,
while substituting matrices Ai, Bi, Fi and Pj according
to (3), (5) and (28), respectively, inequalities (29) are
directly obtained. That is, the 2D switching system (8)
is globally asymptotically stable for any sequence of
switching.
(i) ! (ii): Assume that function #(x(k, l)) given by
(27) with the form (28) is a Lyapunov function for
system (8). Then, its rate of increase 4#(x(k, l )) 5 0.
This implies that inequality (33) holds true. If the
switching system is in mode i at and mode j at 1,
one has s() 1, r( 1) 1, for s i, r j and
s() 0, r() 0 for s 6 i, r 6 j. That is, (33) is
satisfied. Following the same reasoning as before,
condition (29) is obtained.
Remark 4.1
. It is worth noting that inequalities (29) can be
given under the following compact form:

Pi Ai Bi Fi T
34
4 0 8i, j 2 I 2 :

P1
j
. The results of Benzaouia et al. (2009a, b) can be
obtained as a particular case of Theorem 4.3.
The synthesis of the controller can then be derived.
Theorem 4.4: If there exist positive definite matrices
Xi1 2 Rn1 n1 , Xi2 2 Rn2 n2 and matrices Yi1 2 Rmn1 and
Yi2 2 Rmn2 such that
2 i
3
X1 0 i11 T i21 T
6 Xi2 i12 T i22 T 7
6
7 4 0 8 i, j 2 I 2 35
4

Xj
0 5
1
X2j
i11 Ai11 Xi1 B1i Yi1 ,
i12 Ai12 Xi2 B1i Yi2
then the switching system (8) is globally asymptotically

stable for any arbitrary sequence of switching. The
controller gains are given by
Fi Yi1 Xi1 1
Yi2 Xi2 1
36
with Pi1 Xi1 1 and Pi2 Xi2 1 .

Proof 4: By pre- and post-multiplying inequality (34)
1
i
i 1
by diagfP1
i , Ig while letting Xi Pi with P1 X1
1
and Pi2 Xi2 , Yi FiXi, it follows that

Xi Ar Xi Bi Yi T
37
4 0 8i, j 2 I 2 :

Xj
By substituting matrices Ai, Bi and Pj according to (3)
and (28), respectively, and using Xi diagfXi1 Xi2 g,
Yi Yi1 Yi2 , the LMIs (35) are directly obtained.
Finally, the stabilising controller gains of the 2D
switching system (8) are given by Fi Yi X1
i .
Expression (36) follows.
Example 4.2: Consider the same example as in

Example 4.1, the LMI solver of Matlab is used to
solve LMIs (35) leading to feasible solutions in
X11 , X21 , X12 , X22 , Y1 and Y2. The matrices P1, P2 and
the gain controllers F1, F2 are then derived by using
relations (36) as follows:

0:4009 0:0989
3:9334 2:9613
; P21
;
P11
0:0989 0:7837
2:9613 3:2969

0:4394 0:0790
2:0094 0:9370
1
2
P2
; P2
;
0:0790 0:4562
0:9370 1:7379

F1 0:9879 0:5563 2:7369 2:9319 ;

F2 0:8221 1:1374 13:0216 13:9148 :
Example 4.3: The second example of Example 4.1 is
studied. For the same data, the LMIs (35) are feasible.
The obtained solutions are given by
P11
0:0269
0:0531
0:0049
P21
0:0142

0:6407
F1
0:0040

0:8375
F2
0:0985

, P12 0:0011,
0:1086

0:0142
, P22 0:0016,
0:0476

4:2421 0:5241
,
2:2068 0:8029

1:1870
1:7299
:
2:4938 1:1626
0:0531
Figure 2 plots the evolution of the three states xh1 k, l ,

xh2 k, l , xv(k, l ) and the corresponding arbitrary
Comments 4.1: Example 4.3 shows that the studied

2D switching system is asymptotically stable for any
sequence of switching without admitting a common
quadratic Lyapunov function. This confirms the claim
proposed by many authors about this fact. Thus, the
results of Theorem 4.4 constitute a strong tool to study
the stabilisability of 2D discrete-time switching systems
with arbitrary sequence of switching.
State vector xh1
20
10
0
10
20
30
20
15
10
5
0
10
20
15
State vector xh2
10
5
0
5
10
15
10
5
0 0
State vector xv
10
20
15
40
30
20
10
0
10
20
30
20
This work was funded by the Convocatoria de Ayudas para

la estancia de investigadores, resulto con 7-05-2008 of Spain,
AECI project A/7882/07 and CICYT project DPI200766718-C04-02.
15
10
5
l
10
0 0
20
15
10
15
20
25
30
35
Notes on contributors
Abdellah Benzaouia was born in
Attaouia (Marrakech) in 1954. He
received his degree in Electrical
Engineering at the Mohammedia
School (Rabat) in 1979 and his
Doctorate (PhD) at the University
Cadi Ayyad in 1988. He is a
Professor at the University of Cadi
Ayyad (Marrakech), where he is also
head of a team of research on Robust and Constrained
Control (EACPI). His research interests are mainly constrained control, robust control, pole assignment, systems
with Markovian jumping parameters, hybrid systems and
greenhouses. He collaborates with many teams in France,
Canada, Spain and Italy.
1
0
5. Conclusion
In this work, 2D discrete-time switching systems
represented by Roessers model with state feedback
control are studied. The analysis of the switching
phenomena associated to 2D discrete-time systems is
developed. A new indicator function is then adopted.
These tools enable one to analyse the stabilisability
of this class of systems. Hence, common quadratic
and multiple Lyapunov functions are used to obtain
sufficient conditions of asymptotic stabilisation. These
conditions are then used to synthesise the required
controllers under LMIs formulations. Three numerical
examples illustrate the results.
Acknowledgment
Mode
15
20
485
40
i +j
Figure 2. The trajectory of the states xh1 k, l , xh2 k, l , xv(k, l )

and the corresponding sequence of switching obtained with
Theorem 4.4.
sequence of switching represented by the last figure.

One can notice that the 2D closed-loop switching
system is asymptotically stable.
Fernando Tadeo was born in 1969. He

received his BSc degree in Physics in
1992, and in Electronic Engineering in
1994, both from the University of
Valladolid, Spain. After he received
his
MSc
degree
in
Control
Engineering from the University of
Bradford, UK, he received his PhD
degree from the University of
Valladolid, Spain, in 1996. Since 1998 he has been a Lecturer
(Profesor Titular) at the University of Valladolid, Spain.
486
A. Benzaouia et al.
His current research interests include robust control, process

control, control of systems with constraints and reinforcement learning, applied in several areas, from neutralization
processes to robotic manipulators.
Abdelaziz Hmamed was born in Sefrou
Morocco, on July 6, 1951. He received
his Doctorate of Third Cycle and
Doctorate of State degrees in
Electrical Engineering from the
Faculty of Sciences Rabat, Morocco,
in 1980 and 1985, respectively. Since
1986, he has been with the
Department of Physics, Faculty of
Sciences Dhar ElMehraz, Fes Morocco, where he is currently
a Full Professor. His research interests are in delay systems,
stability theory, systems with Constraints, 2D systems and
applications.
Ahmed El Hajjaji received his PhD
and Habilitation a
diriger la
recherche degrees in Automatic
Control from the University of
Picardie Jules Verne, France, in 1993
and 2000, respectively. He was an
Associate Professor in the same university from 1994 to 2003. He is
currently a Full Professor and
Director
of
the
Professional Institute of Electrical Engineering and
Industrial Computing, University of Picardie Jules Verne.
Since 2001, he has also been also the head of the Research
Team of Control and Vehicles of the Modeling, Information
and Systems (MIS) laboratory. His current research interests
include fuzzy control, vehicle dynamics, fault-tolerant control, neural networks, mangles systems and renewable energy
systems.
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