Abstract
The robust tracking problem for a family of linear uncertain plants is considered. The solution presented is in terms of a deterministic time-varying compensator, which may assume a finite number of possible different configurations, and of a supervisor. The task of the supervisor is that of determining the switching instants, and of a scanning among the elements of the family, according to a suitably defined experimental test on the tracking error. The switching scheme has been endowed with an intelligent adaptation mechanism, based on a performance index stopping the switching on the configuration corresponding to the model closest to the actual plant.
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