Adaptive stabilization of linear systems via switching control

In this paper, we develop a method for adaptive stabilization without a minimum phase assumption and without knowledge of the sign of the high frequency gain. In contrast to recent work by Martensson [8], we include a compactness requirement on the set of possible plants and assume that an upper bound on the order of the plant is known. Under these additional hyphotheses, we generate a piecewise linear time-invariant switching control law which leads to a guarantee of Lyapunov stability and an exponential rate of convergence for the state. One of the main objectives in this paper is to eliminate the possibility of "large state deviations" associated with a search over the space of gain matrices which is required in [8].