Incremental Model Reference Adaptive Polynomial Controllers Network

The Incremental Model Reference Adaptive Polynomial Controllers Network (IMRAPCN) is a self-organising non linear controller. This algorithm consists of a Polynomial Controllers Network (PCN) and an Incremental Network Construction (INC). The PCN is a network of polynomial controllers each one being valid for a diierent operating region of the system. The use of polynomial controllers reduces signiicantly the number of controllers required to control a non linear system while improving the control accuracy, and the whole, without any drawbacks since polynomials are \linear in parameters func-tions". Such a control system can be used for the control of a possibly discontinuous non linear system, it is not aaected by the \stability-plasticity dilemma" and yet can have a very clear architecture since it is composed of linear controllers. The INC aims to resolve the clustering problem that faces any such multi-controller method. The INC enables a very eecient construction of the network as well as an accurate determination of the region of validity of each controller. Hence, the INC gives to the PCN a complete autonomy since the clustering of the operating space can be achieved without any a priori knowledge about the system. Those advantages make clear the powerful potential of the IMRAPCN for the control of non linear systems.