| The field of adaptive control is vast and varied, with a large number of approaches to an even larger number of problems. Switching, in the context of adaptive control, uses sudden alterations to the controller dynamics to compensate for some change occurring in the system being controlled. This work studies switching in adaptive control, in particular for systems that experience sudden unexpected perturbations, and systems characterized by the so-called 'family of plants' problem. Many approaches are studied including the use of spectral unmixing and unmixing sets in a switching scheme. In particular, controllers are designed that use switching amongst a candidate family to control linear jump-parameter systems without any assumptions on how the system changes and various enhancements are tried to improve the common switching control problem of large output transients. The work concludes with a study of the inherent limitations of the switching control approach to adaptive control. |
