Minimal control synthesis adaptive control of continuous bimodal piecewise affine systems

This paper reviews the derivation of a model reference adaptive control (MRAC) scheme for bimodal piecewise-affine (PWA) continuous systems [9]. The algorithm is based on an extension of the minimal control synthesis algorithm, originally developed as an MRAC for smooth systems. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The effectiveness of the new proposed control strategy is shown by using it to achieve master slave synchronization of two PWA systems as a representative example.