Robust adaptive stabilization of unknown MIMO systems using switching control

In this paper, new theoretical and simulated results for a robust adaptive stabilizing controller for unknown MIMO systems are presented, based upon the approach given originally in Miller and Davison (1989). The proposed controller is nonlinear and of the switching type, and has the property that after a finite time, switching ceases, thereby resulting in the system being controlled by a LTI controller. In particular, the switching mechanism is simpler in nature than that previously presented in Miller and Davison (1988), does not need a preliminary identification period as given in Miller and Davison (1989), is noise insensitive to all bounded piecewise continuous disturbances w(t), and attempts to provide a “reasonable” transient response by directly “monitoring” plant output y(t)