Transient performance enhancement of direct adaptive control of nonlinear systems using multiple models and switching

Adaptive control of nonlinear systems with parametric uncertainties is considered. A novel approach is presented which makes use of multiple identification models and switching based on direct adaptive control scheme. The use of multiple fixed models and switching provides better transient response under sudden changes in the parameter values. The parameter estimates are reset to the fixed values whenever one of these fixed models yields smaller identification error. The restrictive matching conditions are not required, but the nonlinearities are assumed to be Lipschitz. This work is the generalisation of the methodology proposed by Ciliz and Cezayirli.