Adaptive control of simple nonlinear systems using multiple models

Large errors in parametric estimates lead to unacceptably large transients in linear adaptive control, and particularly in nonlinear adaptive control using a single identification model. We demonstrate that a multiple model, switching and tuning methodology substantially improves the transient performance for a class of nonlinear systems, and copes with rapid changes in the plant parameters. The proof of stability of the resulting nonlinear adaptive control system is presented.