Many practical systems (for example: robotic systems, power system and electronic circuits) are multiple-input multiple-output nonlinear systems and some of them have coupled relations between inputs and outputs. Besides all that, these systems can suffer from plant uncertainties and external disturbances. Any control techniques to be applied to these systems are complex. This work proposes a n...

We discuss recent progress in the field of robust adaptive control with special emphasis on methodologies that use multiple-model architectures. We emphasize that the selection of the number of models, estimators and compensators in such architectures must be based on precise definition of the robust performance requirements. We illustrate some of the concepts and outstanding issues for a new m...

In this thesis, robust adaptive controllers are developed for classes of switched nonlinear systems. Switched systems are those governed by differential equations, which undergo vector field switching due to sudden changes in model characteristics. Such systems arise in many applications such as mechanical systems with contacts, electrical systems with switches, and thermal-fluidic systems with...