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This paper proposes a Lyapunov-based switching logic within the framework of adaptive mixing control (AMC), where a weighted combination of a family of candidate controllers can be inserted in the loop to regulate the output of an uncertain plant. The proposed AMC scheme employs a bank of parallel estimators, or multiple estimators, together with a switching logic that orchestrates which estimate...
In all classes of linear adaptive control that involve switching or not there is no guarantee that after the switching stops or the adaptation is switched off the resulting closed loop linear time invariant system is stable let alone have a certain stability margin unless the persistence of excitation condition is satisfied. It will be of great practical importance if in the case of switching adaptive...
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