Abstract
Based on observations of the past inputs and outputs of an unknown system /spl Sigma/, a countable set of predictors O/sub a/, /spl alpha/ /spl isin/ A, is used to predict the system output sequence. Using the resultant prediction errors a decision rule selects a parameter /spl alpha/ /spl isin/ A at each time k such that the sequence of selections converges to a predictor with desirable properties. At each time k the selected parameter determines which controller from a family of predesigned controllers /spl Gamma//sub /spl alpha//, /spl alpha/ /spl isin/ A, is connected into feedback with the system. We show that for certain MIMO linear systems the resultant closed loop controlled system is stable and can asymptotically track an exogenous reference input.
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