Multiple Model Adaptive Control with Safe Switching 1

The purpose of this paper is to marry the two concepts of multiple model adap-tive control and safe adaptive control. In its simplest form, Multiple Model Adaptive Control involves a supervisor switching among one of a nite number of controllers as more is learnt about the plant, until one of the controllers is nally selected and remains unchanged. Safe adaptive control is concerned with ensuring that when the controller is changed in an adaptive control algorithm, the frozen plant-controller combination is never (closed-loop) unstable. This is a nontrivial task since by deenition of an adaptive control problem, the plant is not fully known.