Multiple model adaptive control. Part 2: Switching

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.