Overcoming the limitations of adaptive control by means of logic-based switching

In this paper we describe a framework for deterministic adaptive control which involves logic-based switching among a family of candidate controllers. We compare it with more conventional adaptive control techniques that rely on continuous tuning, emphasizing how switching and logic can be used to overcome some of the limitations of traditional adaptive control. The issues are discussed in a tutorial, non-technical manner and illustrated with specific examples. (C) 2003 Elsevier Science B.V. All rights reserved.