An adaptive tracking control system based on switching compensators

We propose a new design method for adaptive tracking control systems with switching functions for sets of compensators. The proposed method makes it possible to construct an adaptive tracking control system without accurate a priori information about the model order, relative degree, and the sign of the high frequency gain. Furthermore, this paper also shows that the tracking error converges to an arbitrary small region asymptotically, and that the compensator switching action ceases within a finite time period