On robust adaptive switched control

In this paper, an algorithm for robust adaptive control design for a class of single-input-single-output (SISO) switched linear systems is developed. The control scheme guarantees robust exponential stability with respect to any bounded parametric uncertainty and bounded disturbance without requiring a priori knowledge of such bounds. Furthermore, switched system stability is preserved independent of switching speed for plant/controller parameter switching. The problem reduces to an analysis of an exponentially stable system driven by piecewise continuous inputs due to plant and controller parameter switching. This system is a modification of the closed loop error dynamics in standard adaptive control systems, through modifying the adaptation law. The results are illustrated for model reference adaptive control of a SISO linear plant.