Unfalsified adaptive control: Finding the best controller among candidate controllers

A new switching algorithm for unfalsified adaptive control is developed to accommodate a pair of cost functions, called a primary and a secondary cost functions. In this switching algorithm, the primary cost function is designed to satisfy certain conditions to ensure the unfalsified stability of the adaptive switching control system. On the other hand, the secondary cost function can be designed based on a performance measure of interests without any condition to satisfy. Thus, both prediction-based and data-based cost functions are allowed for the secondary cost function. When there are multiple stabilizing controllers in the candidate controller set, this secondary cost function is a tool to find the best controller among the stabilizing controllers.