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Controller switching based on output prediction errors

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3 Author(s)
J. Hocherman-Frommer ; Dept. of Electr. Eng., Princeton Univ., NJ, USA ; S. R. Kulkarni ; P. J. Ramadge

We consider a switched nonlinear feedback control strategy for controlling a plant with unknown parameters so that the output asymptotically tracks a reference signal. The controller is selected online from a given set of controllers according to a switching rule based on output prediction errors. For control problems requiring asymptotic tracking of a reference input we provide sufficient conditions under which the switched closed-loop control system is exponentially stable and asymptotically achieves good control even if the switching does not stop, Our results are illustrated with three examples

Published in:

IEEE Transactions on Automatic Control  (Volume:43 ,  Issue: 5 )