Adaptive robust control by set membership estimation and switching: stability and performance analysis

Adaptive control of time-invariant plants, in the presence of unmodeled dynamics and bounded disturbances, via set membership identification is proposed. The set estimator maps the uniformly bounded normalized equation error on parametric error characterizing the modeled part of the plant. Based on the set estimator and implemented by fuzzy logic, a switching control policy improves the system performance. At the same time, through stabilization against the parameter uncertainty, the policy renders the closed-loop modeled dynamics robust with respect to the equation error mechanisms.