Output Feedback Model Reference Adaptive Control of Piecewise Affine Systems With Parameter Convergence Analysis

In this article, the output feedback-based direct model reference adaptive control of piecewise affine systems and its parameter convergence are investigated. Under slow switching assumption, it is shown that all closed-loop signals bounded tracking error small in mean square sense. Built upon result, estimation controller parameters proved to converge a residual set if input signal sufficiently rich. The relationship between size frequency established. Moreover, estimated their nominal values can be achieved for certain subsystem given activated infinitely long time. Simulation results validate effectiveness proposed approach.