Adaptive control systems switched by control and robust performance criteria

This paper presents a methodology for the design of the adaptive control systems using multiple controllers which can control an unknown plant whose parameters widely change. There is no necessity of estimating 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, Switching rules utilize only information whether control succeeds or fails. We introduce the criteria, control and robust performance criteria. The former is used to produce a number of candidates for 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 it to the cart-pole problem with changeable length of the pole.