Multiple model adaptive control with mixing: A pedagogical example

We apply the adaptive mixing control approach to a simple example, presenting concepts of the design and analysis of these schemes in a pedagogical manner. Unique to deterministic multiple model adaptive control schemes, adaptive mixing control does not switch discontinuously among candidate controllers. Continuous ¿mixing¿ is possible because the multicontroller is constructed by controller interpolation methods and the supervisor generates the mixing signal by monitoring an online estimate of the unknown parameters. This paper also presents stability and robustness results that can be extended to the general case with out difficulty.