Unfalsified virtual reference adaptive switching control of plants with persistent disturbances

This paper addresses virtual reference adaptive switching control whereby a datadriven supervisor aims at stabilizing an unknown time-invariant dynamic system by switching at any time in feedback with system one element from a finite family of candidate controllers. Under the only assumption of problem feasibility, viz. the controller family contains a stabilizing controller, the resulting switched system is shown to be stable against arbitrary exogenous persistent bounded disturbances.