Multi-controller adaptive control for systems with load disturbance

The multi-controller adaptive control is studied for a class of discrete-time linear systems with load disturbance. Multiple pole-placement controllers with 2-DOF which can improve the response to the disturbance are developed to form a candidate controller set.It is proved that after a finite number of switching,the scale-independent hystereticswitching logic will lock the stabilizing controller in the control loop,guaranteeing that the input and output sequences are bounded and the disturbance attenuation is achieved.The simulation example confirms its efficacy.