Controller Switching Based on Output Prediction Errors

Peter Ramadge
Department of Electrical Engineering
Princeton University
ramadge@EE.Princeton.EDU

We analyse a switching control system for controlling a plant with unkown parameters so that the output asymptotically tracks a reference signal. The controller is selected on-line from a given set of controllers according to a switching rule based on output prediction errors. We provide sufficient conditions under which the switched closed loop control system is exponentially stable and asymptotically achieves good tracking control. Two situations are considered: when the switching stops after a finite time and when the switching does not necessarily stop.