Adaptive switching control of LTI MIMO systems using a family of controllers approach (Q1301416)

The authors consider a finite family of finite dimensional MIMO plants \[ \begin{aligned}\dot x(t) &=A_i x(t)+\;B_i u(t) +\;E_i w(t), \\ y(t) &=C_i x(t)+\;D_i u(t) +\;F_i w(t), \end{aligned} \] \(i=1,\ldots,s\), and for each plant there exists a controller within the finite family \[ \begin{aligned} \dot \eta(t) &=G_i \eta (t)+\;H_i y(t)+\;J_i y_{\text{ ref}}, \\ u(t) &=K_i \eta (t)+\;L_i y(t)+\;M_i y_{\text{ref}}, \end{aligned} \] \(i=1,\ldots,s\), so that the closed-loop system achieves tracking of constant reference signals \(y_{\text{ref}}\) while all signals remain bounded. An adaptive switching controller is designed which solves the servomechanism problem for any plant belonging to the above family, and any piecewise continuous and bounded reference signal \(y_{\text{ref}}(\cdot)\).