Stable Weighted Multiple Model Adaptive Control of Continuous-Time Plant

This chapter deals with the stability of WMMAC of continuous-time plant with large parametric uncertainties, which is not a trivial problem although the stability of discrete-time WMMAC systems has been proved in Chaps. 4 and 5 for different situations. In continuous-time WMMAC system, each ‘local’ controller is designed by the mixed-\(\mu \)-synthesis method to deal with small parametric uncertainties of plant together with disturbance, the weighting algorithm is formulated directly based on local model output errors rather than the residuals generated by multiple Kalman filters as in classical multiple model adaptive control (CMMAC). The closed-loop stability (signal boundedness) and tracking performance of the proposed WMMAC system are proved with the help of VES concept and methodology.

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