Multiple Model Adaptive Control. Part 2: Switching

Abstract

This paper addresses the problem of controlling a continuous-time linear system with large modelling errors. We employ an adaptive control algorithm consisting of a family of linear candidate controllers supervised by a high-level switching logic. Methods for constructing such controller families have been discussed in the recent paper by the authors. The present paper concentrates on the switching task in a multiple model context. We described and compare two different switching logics, and in each case study the behaviour of the resulting closed-loop hybrid system. Show more