Robust input disturbance suppression for nonlinear systems based on multiple model adaptive control

In this paper, we make initial steps in the direction of nonlinear multiple model adaptive control by focusing on a contrived example in which an unknown parameter has a nominal value in one of the two intervals [-0.3, -0.1] and [0.1, 0.3] and can switch between them. The design should suppress a constant input disturbance. We discuss the use of a multi-estimator and multi-controller to achieve the goal, with the construction of the stable multi-estimator being based on stable kernel representation of the plant. Simulation results indicate that satisfactory performance is achieved.