In this seminar a new control design for a class of nonlinear switched systems is presented and discussed. It is based on a non quadratic Lyapunov function which together with its time derivative along any trajectory of the closed-loop system are determined from LMI conditions. The final result is validated by means of a practical application involving the control design for velocity profile tracking of a permanent magnet synchronous machine (PMSM). Experimental data including actual control performance measurements will be shown from internet.