Multi-model unfalsified adaptive switching supervisory control |
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Authors: | Simone Baldi [Author Vitae] [Author Vitae] Edoardo Mosca [Author Vitae] [Author Vitae] |
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Affiliation: | Dipartimento Sistemi e Informatica, DSI - Università di Firenze, Via S. Marta 3, 50139 Firenze, Italy |
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Abstract: | The paper studies how on-line inferring stability of a potential control-loop consisting of an uncertain plant interconnected in feedback with a candidate controller using plant I/O pairs recorded while the plant is possibly driven by a different controller. In such a context, a convenient tool to work with is to resort to the conceptual entity of a virtual reference (VR). The adopted approach consists of embedding, in the so-called unfalsified adaptive switching control schemes based on VR, a family of nominal models pairwise associated with the given candidate controllers. The result is that the supervised switching mechanism can moderate the chance that destabilizing controllers be switched-on and, hence, reduce both the magnitude and time durations of “learning” transients after start-up, while, in contrast with pre-existing multi-model based methods, stability in-the-large is guaranteed under the minimal conceivable assumption that a stabilizing candidate controller exist. |
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Keywords: | Control of uncertain plants Adaptive control Switching supervisory control |
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