Multiple model adaptive control. Part 1: Finite controller coverings

We consider the problem of determining an appropriate model set on which to design a set of controllers for a multiple model switching adaptive contro l scheme. We show that, given mild assumptions on the uncertainty set of li near time-invariant plant models, it is possible to determine a finite set of controllers such that for each plant in the uncertainty set, satisfactor y performance will be obtained for some controller in the finite set. We al so demonstrate how such a controller set may be found. The analysis exploit s the Vinnicombe metric and the fact that the set of approximately band- an d time-limited transfer functions is approximately finite-dimensional. Copy right (C) 2000 John Wiley & Sons, Ltd.