Hybrid Model Reference Adaptive Control of Piecewise Affine Systems

Mario di Bernardo*, Umberto Montanaro, Stefania Santini

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)peer-review

86 Citations (Scopus)

Abstract

This paper is concerned with the derivation of a model reference adaptive control (MRAC) scheme for multimodal piecewise-affine (PWA) and piecewise-linear systems. The control allows the plant to track asymptotically the states of a multimodal piecewise affine (or smooth) reference model. The reference model can be characterized by a number and geometry of phase space regions that can be entirely different from those of the plant. Numerical simulations on a set of representative examples confirm the theoretical derivation and proof of stability.

Original languageEnglish
Pages (from-to)304-316
Number of pages13
JournalIEEE Transactions on Automatic Control
Volume58
Issue number2
Early online date7 Aug 2012
DOIs
Publication statusPublished - Feb 2013

Keywords

  • CONTROL SYNTHESIS ALGORITHM
  • hybrid and switching control
  • switched systems
  • Adaptive control
  • SYNCHRONIZATION
  • ROBUSTNESS
  • STABILITY
  • TRACKING CONTROL
  • SWITCHED SYSTEMS
  • PWA SYSTEMS
  • OBSERVER-BASED CONTROL

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