Improved switching for multiple model adaptive controller in noisy environment

A new switching mechanism for multiple model adaptive controllers (MMAC) is suggested in this paper. The proposed method gives superior performance in comparison to the widely used method of switching based on performance function and hysteresis function in systems which experience high levels of measurement noise. This method acts as a complementary condition within the switching mechanism which checks the existence of excitation in system at every instant. The new method is evaluated by simulation studies on a nonlinear model of a pH neutralization plant.