Logic-based switching control of a class of nonlinear system

In this note, a multiple model adaptive controller was developed for a class of nonlinear system which has unknown multiplicative terms. Unlike previous results, we do not require a priori knowledge on the unknown control directions. Our proposed adaptive controller is a switching-type controller which can re-initialize its estimate parameters via a switching scheme. Therefore, the unknown control directions can be identified quickly, so that the control law can work on the right way. Global asymptotic stability of the closed-loop switching system is proved.