Hysteresis-based switching algorithms for supervisory control of uncertain systems

We address the problem of controlling a linear system with unknown parameters ranging over a continuum by means of switching among a 4nite family of candidate controllers. We present a new hysteresis-based switching logic, designed speci4cally for this purpose, and derive a bound on the number of switches produced by this logic on an arbitrary time interval. The resulting switching control algorithm is shown to provide stability and robustness to arbitrary bounded noise and disturbances and su6ciently small unmodeled dynamics. ? 2002 Elsevier Science Ltd. All rights reserved.