Stability Analysis of Robust Multiple Model Adaptive Control

The Robust Multiple Model Adaptive Control (RMMAC) methodology was first introduced in Fekri et al. [2006] for open-loop stable plants with parametric uncertainty and unmodeled dynamics subjected to external disturbances and measurement noise. This paper addresses the stability of RMMAC systems. We show, using concepts and analysis tools that borrow from Supervisory Control, that all closed-loop signals in a RMMAC system are bounded. It is further shown that robust performance is recovered in steady state.