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Adaptive control systems switched by control and robust performance criteria

This paper presents a methodology for the design of adaptive control systems using multiple controllers which can control an unknown plant whose parameters change widely. It is not necessary to estimate the plant parameter values in our system. Multiple controllers are constructed by several basic controllers. Switching from the current basic controller to a more appropriate one is based on one-way simple switching rules. The switching rules only utilize the information of whether the control has succeeded or failed. We introduce the control and robust performance criteria. The former is used to produce a number of candidates for the basic controllers for typical plant models. The latter is used to select several basic controllers from the candidates to construct multiple controllers in order to achieve the system robust performance. To illustrate the effectiveness of the approach, we apply the control system to the cart-pole problem with changeable length of the pole.