Characterization and Computation of a Control Invariant Set for Discrete-Time Switched Systems Under Waiting-Time Constraints

This work addresses the study of control invariant sets for discrete-time switched systems subject to minimal and maximal waiting-time constraints. We formally define and characterize such sets within an admissible region for linear control switched systems of q modes, demonstrating that they can be expressed as the union of q component sets. These component sets permit transitions between the modes without violating either the invariance property or the waiting-time constraints. Furthermore, we propose an algorithm for computing the maximal control invariant set under waiting-time constraints within a target region and validate our approach through numerical simulations.