Safe Adaptive Switching through Infinite Controller Set: Stability and Convergence

A primary goal of adaptive control is to achieve stability and asymptotically optimal performance, given the feasibility of adaptive control problem— defined as the existence of a stabilizing solution in a continuously parametrized controller set. A solution is proposed called safe adaptive control, which robustly achieves this goal without any assumptions other than feasibility. Specifically, a list of the required properties of the cost function is formulated. The paper builds on the previous results in Stefanovic et al. (2004) and Morse et al. (1992). The previous results are generalized here by allowing the class of candidate controllers to be infinite. The problem is motivated by a model-mismatch stability failure associated with a multitude of adaptive control schemes. Copyright c © 2005 IFAC