Safe Switching Adaptive Control: Examples

Abstract

In this chapter, we present examples that illustrate the stability robustness properties of the safe adaptive control algorithm in the high uncertainty setting, and compare it with alternative control schemes. The motivating example gives insight into the model mismatch stability failure associated with model based adaptive control schemes lacking the necessary properties of their cost function, and a solution to the preceding problem is provided. Following this example, transient behavior improvement of the safe adaptive schemes is discussed. For completeness, some applications of the unfalsified control concept are reproduced in the last section of this chapter.