Model-free adaptive switching control of time-varying plants

This paper addresses the problem of controlling an uncertain time-varying plant by means of a finite family of candidate controllers supervised by an appropriate switching logic. It is assumed that, at every time, the plant consists of an uncertain single-input/single output linear system. It is shown that stability of the switched closed-loop system can be ensured provided that (i) at every time there is at least one candidate controller capable of potentially stabilizing the current time-invariant "frozen" plant model, and (ii) the plant changes are infrequent or satisfy a slow drift condition.