Integration of the Stability Overlay (SO) with the Robust Multiple-Model Adaptive Control (RMMAC)

The Stability Overlay (SO) is a ldquosafety netrdquo that can be integrated with virtually any multiple-model adaptive control (MMAC) architecture, guaranteeing the stability of the closed-loop system. However, the arbitrary interconnection of the SO with a MMAC architecture can lead to severe performance deterioration. Thus, this paper proposes a systematic integration of the SO with the Robust Multiple-Model Adaptive Control (RMMAC), which provides stability guarantees, while maintaining the high levels of performance of the standard RMMAC observed in numerous simulations when the design assumptions are not violated.