{"ID":2852727,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.17448","arxiv_id":"2510.17448","title":"Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees","abstract":"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.","short_abstract":"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....","url_abs":"https://arxiv.org/abs/2510.17448","url_pdf":"https://arxiv.org/pdf/2510.17448v2","authors":"[\"Mirko Mizzoni\",\"Pieter van Goor\",\"Barbara Bazzana\",\"Antonio Franchi\"]","published":"2025-10-20T11:35:01Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"math.DS\"]","methods":"[]","has_code":false}