A switching controller for multivariable LTI systems with known and unknown parameters

The design of adaptive controllers for multi-input multi-output (MIMO) linear time invariant (LTI) systems is challenging due to the high dimension and parameterization issues associated with MIMO systems. In this paper we design and analyze a nonlinear control scheme for a general MIMO system to overcome some of the traditional parameterization issues. The design is based on switching and the theory of control Lyapunov functions. The new scheme guarantees stability and convergence of the output to a residual set by output-feedback if the plant parameters are known and by state-feedback if the plant. parameters are unknown. The size of the residual set depends on some of the design parameters and can be made arbitrarily small.