Multi-Model Adaptive Switching Control with Fine Controller Tuning

This paper addresses the problem of controlling uncertain plants by means of a finite family of candidate controllers supervised by an appropriate switching logic. To this end, a novel adaptive control scheme is introduced, whereby switching among pre-designed candidate controllers is suitably combined with an iterative control design procedure. These results are shown to be of practical relevance for on-line implementation of highly performing adaptive switching control schemes. Simulation results are presented.