Safe multi-controller adaptive switching using closed-loop data

Consider an interconnection of an unknown or partially known plant and a known stabilizing controller, and assume that some knowledge of the closed-loop system is available. Suppose, on the basis of that knowledge, the use of a new controller appears attractive. We present analysis and novel tests using a limited amount of experimental and possibly noisy data obtained from the existing closed-loop for verifying robust stability and performance with the new controller before it is switched in. The importance of this capability arises in multi-controller adaptive switching including iterative identification and control algorithms and multiple-model adaptive control. The results cover the linear and nonlinear cases.

Keywords

multiple model adaptive control, multi-controller switching, iterative identificationand control, robust control, nonlinear control, adaptive control

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Published 30 March 2011