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... approach to adaptive control relies solely on continuous tuning [22]–[24]. This approach has some inherent limitations that can be overcome by hybrid adaptive algorithms based on switching and logic =-=[25]-=-. The basic idea behind supervisory control [21], [26]–[30] is to design a suitable family of candidate controllers. Each controller is designed for an admissible nominal model of the process, and a s...

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... delay free systems. I. INTRODUCTION Switching control offers a new look into the design of complex control systems (e.g. nonlinear systems, parameter varying systems and uncertain systems) [1], [8], =-=[9]-=-, [19], [17], [21], [28]. Unlike the conventional adaptive control techniques that rely on continuous tuning, the switching control method updates the controller parameters in a discrete fashion based...

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...r of epi = fpi − f. (10) The estimation error is passed to the monitoring signal generator, M, which outputs a monitoring signal defined as µpi(t) = ∫ t 0 e −2λ(t−τ ) ‖epi(τ)‖ 2 dτ , (11) where λ ≥ 0 =-=[9]-=-. The switching logic, S, chooses an estimator that yields the minimum amount of monitoring signal. In the original idea, the switching logic outputs a signal, σ, that is used to define the control si...

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...ss. In the systems and control field, the utilization of learning is extensive. Adaptive control [1], adaptive filtering [22], and supervisory control [12] are all examples. Supervisory control [11], =-=[15]-=-, [19], [21] is an approach to adaptive control that uses information obtained online to decide on an appropriate control action. The “decision maker” is composed of a set of candidate controllers and...

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...lism, to design the switching among a finite number of continuous variable systems. It was shown that the closed-loop system formed a hybrid automata and satisfied certain specifications robustly. In =-=[12]-=-, the authors proposed logically supervised switching multiple controllers to control uncertain dynamical systems, while the closed-loop system forming a class of uncertain switched systems. The advan...

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...ng laws such as (2) are called adaptive controllers. The use of supervisory control has several potential advantages over traditional forms of adaptive control. These are discussed with some depth in =-=[27]-=- and summarized below: Rapid Adaptation. With supervisory control, online adaptation to sudden changes in the process or the control objectives can occur very fast because the signal σ that controls w...

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...d satisfied certain specifications robustly. In [16], a robust tracking and regulation controller was designed for uncertain piecewise linear hybrid systems based on linear programming techniques. In =-=[10]-=-, the authors proposed logically supervised switching multiple controllers to control uncertain dynamical systems, and the closed-loop system formed a class of uncertain switched systems. The advantag...

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...ch has been around since the early 1950s and although it functions well in practice, nevertheless it shares the lack of workable theoretical robustness results with classical adaptive approaches [3], =-=[8]-=-, although see [5] for recent results in classical adaptive control based on the nonlinear robust stability theory of [7]. A different approach to MMSAC introduced by [4], [12], which we call EMMSAC, ...