This paper is concerned with the derivation of a novel model reference adaptive control (MRAC) scheme for piecewise-affine (PWA) continuous systems. A novel version of the minimal control synthesis algorithm, originally developed as a MRAC for smooth systems, is presented. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The proof of stability, based on the newly developed passivity theory for hybrid systems, is provided and the effectiveness of the new proposed control strategy is numerically tested.
|Translated title of the contribution||Novel switched model reference adaptive control for continuous piecewise affine systems|
|Title of host publication||IEEE Conference on Decision and Control, CDC08|
|Pages||1925 - 1930|
|Publication status||Published - Dec 2008|