针对一类Lipschitz非线性切换系统,研究基于观测器的H∞输出跟踪控制问题.借助微分中值定理,将Lipschitz非线性切换系统转化为线性参数切换系统.当状态变量不可测或不易测时,利用多Lyapunov函数方法,同时设计观测器、基于观测器的跟踪控制器和滞后切换信号,使得系统满足H∞输出跟踪性能.最后通过仿真例子表明了设计方法的有效性. For a class of Lipschitz nonlinear switched systems, the observer-based H∞ output tracking control problem is studied. By using the differential mean value theorem, the Lipschitz nonlinear switching system is transformed into a linear parametric switching system. When the state variables are not measurable or not easily measurable, The multi-Lyapunov function method is used to design the observer, the observer-based tracking controller and the hysteresis switching signal to make the system meet the H∞ output tracking performance. Finally, the simulation example shows the effectiveness of the design method.