Multiple-model adaptive switching control for uncertain multivariable systems

This paper addresses the problem of controlling an uncertain multi-input multi-output (MIMO) system by means of adaptive switching control schemes. In particular, the paper aims at extending the approach of multiple-model unfalsified adaptive switched control, so far restricted to single-input single-output systems, to a general multivariable setting. The proposed scheme relies on a data-driven “high-level” unit, called the supervisor, which at any time can switch on in feedback with the uncertain plant one controller from a finite family of candidate controllers. The supervisor performs routing and scheduling tasks by monitoring suitable test functionals which, based on the measured data, provide a measure of mismatch between the potential loop made up by the uncertain plant in feedback with the candidate controller and the nominal “reference loop” related to the same candidate controller.