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Finite horizon based switching between stabilizing controllers

We present a technique that allows switching between alternative controllers based on the online and predicted performance of each sub-controller. The overall switched control system is guaranteed to be exponentially stable under arbitrary switching and the transients induced by the switching are included in the performance index. The proposed technique is constructed from familiar industrial control engineering tools. The sub-controller design is a standard LTI control problem and can follow the method of choice of the designer. The construction of a stabilizing switched multi-controller involves only straightforward factoring of the controllers. Finally the controller switching logic is designed using a finite horizon technique that will be familiar to practitioners of model predictive control