This paper addresses the problem of controlling a continuous-time linear sy
stem with large modelling errors. We employ an adaptive control algorithm c
onsisting of a family of linear candidate controllers supervised by a high-
level switching logic. Methods for constructing such controller families ha
ve been discussed in the recent paper by the authors. The present paper con
centrates on the switching task in a multiple model context. We describe an
d compare two different switching logics, and in each case study the behavi
our of the resulting closed-loop hybrid system. Copyright (C) 2001 John Wil
ey & Sons, Ltd.