Stable multiple model adaptive control of nonlinear multivariable discrete-time systems

In this paper, to further relax the restriction on the higher order nonlinearity in, a stable multiple model adaptive control (SMMAC) method is developed. First a new robust adaptive controller is designed, which can guarantee the stability of the closed-loop system. Then to improve the system performance, the SMMAC method is presented by switching between the robust adaptive controller and a conventional neural network (NN) adaptive controller. Theory analysis and simulation results are presented to show the effectiveness of the proposed method.