Agradecimentos: This research was supported by the "National Council for Scientific and Technological Development (CNPq)", under grant 303499/2018-4. R. Jungers is a FNRS honorary Research Associate. This project has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 864017 - L2C. RJ is also supported by the Innoviris Foundation and the FNRS (Chist-Era Druid-net) . For the SOS parser (Löfberg, 2009), we thank the YALMIP team Ver menos

Abstract: This paper treats the global stabilization problem of continuous-time switched affine systems that have rank-deficient convex combinations of their dynamic matrices. For these systems, the already known set of attainable equilibrium points has higher dimensionality than in the full-rank case due to the existence of what we define as singular equilibrium points. Our main goal is to design a state-dependent switching function to ensure global asymptotic stability of a chosen point inside this set with conditions expressed in terms of linear matrix inequalities. For this class of systems, global exponential stability is generally impossible to be guaranteed. Hence, the proposed switching function is shown to ensure global asymptotic and local exponential stability of the desired equilibrium point. The position control and the velocity control with integral action of a dc motor driven by a h-bridge fed via a boost converter are used for validation. This practical application example is composed of eight subsystems, and all possible convex combinations of the dynamic matrices are singular Ver menos