This paper studies with the problem of observer-based H∞ output tracking control for a class of switched
Lipschitz nonlinear systems. The differential mean value theorem allows transforming the switched Lipschitz nonlinear
systems into switched linear parameter-varying systems. By using a multiple Lyapunov functions approach, observers,
observer-based tracking controllers and a hysteresis switching law are designed simultaneously to achieve the H∞ output
tracking control performance, when the states are not completely available for switching and controller design. Finally, a
numerical example shows the effectiveness of the proposed method.