Safe adaptive switching control with no SCLI assumption

A new approach is proposed to dismiss the SCLI assumption in the safe adaptive control. Fictitious signals and cost functions that are newly developed in this paper achieve the cost-detectability without imposing the SCLI assumption unlike and where the SCLI assumption is imposed on candidate controllers and on matrix fraction description forms of candidate controllers, respectively. Since this approach has virtually no assumption on candidate controllers, the safe adaptive control with this approach is able to contain virtually any controller in a candidate controller set.