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Hybrid Model Reference Adaptive Control of Piecewise Affine Systems

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3 Author(s)
Mario di Bernardo ; Department of Systems and Computer Engineering, University of Naples Federico II, Naples, Italy ; Umberto Montanaro ; Stefania Santini

This paper is concerned with the derivation of a model reference adaptive control (MRAC) scheme for multimodal piecewise-affine (PWA) and piecewise-linear systems. The control allows the plant to track asymptotically the states of a multimodal piecewise affine (or smooth) reference model. The reference model can be characterized by a number and geometry of phase space regions that can be entirely different from those of the plant. Numerical simulations on a set of representative examples confirm the theoretical derivation and proof of stability.

Published in:

IEEE Transactions on Automatic Control  (Volume:58 ,  Issue: 2 )