Parallel structure of the supervision level for multivariable adaptive control of time varying systems

An adaptive control system for multivariable time varying plants directly influenced by a nonstationary measurable (estimated) scheduling variable is considered. The plant under control has different behavior depending on the speed of change of the scheduling variable-quasistationary, nonstationary, or stochastic. In order to cover all possible technological modes a parallel structure is proposed. It consists of concurrent feedback and feedforward supervisors, an operating condition identifier, and a scheduling variable estimator. The combined action of these parallel tasks increases the functional robustness of the controlled system for every identified operating range due to the bumpless transfer between the different controllers. A procedure for control law calculation in boundary conditions of adjacent operating modes is given