Supervision of families of nonlinear controllers

A high-level controller called a “supervisor”, is defined for the purpose of orchestrating the switching of a sequence of candidate controllers into feedback with an imprecisely modeled process so as to stabilize it. The controller selection is made by (i) continuously comparing in real time suitably defined “normed” output estimation errors or “performance signals” and (ii) placing in the feedback-loop, from time to time, that candidate controller whose corresponding performance signal is the smallest. The paradigm is a manifestation of the idea of certainty equivalence from parameter adaptive control