We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable via outputs. Fixing an operating point, each meld induces a distinct feedback-linearizing coordinate chart defined on a common neighborhood. Switching between melds therefore produces state-dependent coordinate mismatches that are not captured by classical switched-system analyses. We quantify this effect through Lipschitz bounds on the cross-chart maps over a compact safe set and introduce a reference-compatibility constant that measures mismatch among reference families across melds. We derive an explicit dwell-time condition depending on controller decay rates and the compatibility constant, that guarantees exponential decay of the active-output tracking errors between switches, seamless tracking of outputs shared by consecutive melds, and uniform boundedness of the state error within the safe set. A planar 3R manipulator illustrates the results.

翻译：本文研究针对可通过输出实现静态反馈线性化的非线性系统，从候选输出集合中选取多个方形输出函数子集（称为melds）进行切换的问题。在固定工作点下，每个meld会在公共邻域上诱导出一个独特的反馈线性化坐标图。因此，在melds间切换会产生状态依赖的坐标失配，这是经典切换系统分析未能涵盖的。我们通过紧致安全集上交叉映射的Lipschitz界来量化这种效应，并引入一个参考兼容性常数来衡量不同melds间参考族系的失配程度。我们推导出一个显式的驻留时间条件，该条件依赖于控制器衰减率与兼容性常数，能够保证切换间主动输出跟踪误差的指数衰减、连续melds间共享输出的无缝跟踪，以及安全集内状态误差的一致有界性。文中通过平面3R机械臂实例验证了理论结果。