Safe Multi-controller Adaptive Switching Using Closed-loop Data

Consider an interconnection of an unknown or partially known plant and a known stabilizing controller, and assume that some knowledge of the closed-loop system is available. Suppose, on the basis of that knowledge, the use of a new controller appears attractive. We present analysis and novel tests using a limited amount of experimental and possibly noisy data obtained from the existing closed-loop for verifying robust stability and performance with the new controller before it is switched in. The importance of this capability arises in multi-controller adaptive switching including iterative identification and control algorithms and multiple-model adaptive control. The results cover the linear and nonlinear cases.