Unfalsified Adaptive Control: Inter-falsification and self-falsification

Controller switching algorithms used for Unfalsified Adaptive Control are investigated. The concept of interfalsification, a generalization of the existing ε-hysteresis algorithm, is defined; the concept of self-falsification is introduced; and the two concepts are compared. New controller switching algorithms are designed based on the idea of self-falsification. These algorithms relax the assumption that the cost function be monotonically nondecreasing in time, and are thus more flexible than the existing inter-falsification algorithm. Simulations illustrate that the self-falsification algorithms can be used with non-monotone cost functions.