Multiple models adaptive controller:hierarchical structure and covering analysis
多模型自适应控制的分层递阶构造与覆盖性质分析

A novel Hierarchical multiple models Adaptive Controller(HMMAC) is presented for a multivariable nonminimum phase process,which includes hierarchical fixed optimal controllers,one free-running adaptive controller and one re-initialized adaptive controller.The hierarchical structure is adopted to reduce the number of the fixed controllers.In each level, the fixed controllers are designed dynamically to cover the high-level-optimal-fixed-controller.Based on to the switching index the selected controller is designed using the direct adaptive algorithm and the steady state error is eliminated by the choice of the weighting matrixes.At last,the covering analysis and the analysis of the number of hierarchical fixed controllers' are given.In the simulation example,if the same number of the fixed models is used,system transient response is improved greatly.