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The performance of an identifier-based adaptive controller depends on the properties of its certainty equivalence control law and the choice for the design parameters of its estimator. The adaptive control literature has largely focused on model-following and pole-placement control objectives, which may not capture the true control objective as effectively as LTI robust control designs, e.g., mu-synthesis...
We apply the adaptive mixing control approach to a simple example, presenting concepts of the design and analysis of these schemes in a pedagogical manner. Unique to deterministic multiple model adaptive control schemes, adaptive mixing control does not switch discontinuously among candidate controllers. Continuous ??mixing?? is possible because the multicontroller is constructed by controller interpolation...
A novel disturbance rejection solution for a benchmark mass-spring-damper (MSD) system is presented. The proposed design, adaptive mixing control (AMC,) is a deterministic multiple model adaptive control (MMAC) approach that mixes candidate controllers by monitoring real-time estimates of an unknown parameter. Monte Carlo simulations are conducted to compare the performance of the AMC scheme with...
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