A Two-Level Adaptive Switching Controller for a Class of Nonlinear Plants

An adaptive switching controller has been suggested earlier for improving performance of adaptively controlled class of nonlinear bioreactor processes in the presence of parametric uncertainty. In this paper these results are extended to include the case of structural uncertainty as well. Under an assumption that the process assumes one of a given set of models, a robust adaptive switching controller is suggested for the class of plants. Through computer simulations it was shown that the method assures switching to the true controller, and achieves acceptable performance of the closed-loop system in the presence of both structural and parametric uncertainties. The controller suggested represents the second level in a two-level configuration, in which the first level includes the previously reported adaptive switching scheme used to find an optimum adaptive controller for each of the models.