Supervisory Multiple Model Control

Abstract

This article discusses the ccxnplete controller design strategy required for implementing Multiple Model Control (MMC), applied to nonlinear systems. It is shown that the multiple model design can be recast into a supervisory arrangement, where a global supervisor is utilised to select the appropriate controller from a fixed family set. Unlike current techniques where Fuzzy Validity Functions or Bayesian Estimates are utilised in the selection mechanism, the apprоаϿһ of a Multiple Model Observer (MMO) is employed for the selection architecture within the supervisor. This notion, is a natural extension of the MMC design. Switching between the individual controllers is accomplished bumplessly by using a Multiple Model Bumpless Transfer Mechanism, thus producing a smooth and continuous control signal as the plant alters continuously. The design of the complete controller is segmented into two sections; Supervisory and Global Regulator Controllers, with bumpless transfer implemented within the regulatory controller design. All sections ensure stability and robustness in face of plant uncertainties.