Robust adaptive control of a flexible transmission system using multiple models

An application of the multiple models adaptive control based on switching and tuning to a flexible transmission system is presented. The advantages of this control system with respect to the classical adaptive control are illustrated via experimental results. It is also shown that the robustness of the adaptive control system can be improved with the appropriate shaping of a sensitivity function. The use of a parameter estimation algorithm based on the minimization of the closed loop output error in the multiple models scheme also improves the performance of the system in the tuning phase and makes the adaptation algorithm insensitive to output disturbances. This removes the need for parameter freezing.