| International Journal on Robust and Nonlinear Control, to appear 1 Multiple model adaptive control, part 2: Switching* (2007) | |||||||||||||||||
Abstract | |||||||||||||||||
| This paper addresses the problem of controlling a continuous-time linear system with large modeling 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 describe and compare two different switching logics, and in each case study the behavior of the resulting closed-loop hybrid system. | |||||||||||||||||
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