Robust adaptive control of a flexible transmission system using multiple models

An application of the multiple models adaptive control based on switching and tuning to a flexible transmission system will be presented. The advantages of this control system with respect to the classical adaptive control will be illustrated via the experimental results. It will also be shown that the robustness of the adaptive control system can be improved with the appropriate shaping of a sensitivity function. The use of a recently developed parameter estimation algorithm based on the minimization of the closed loop output error in the multiple models scheme will also improve the performance of the system in the tuning phase and will make the adaptation algorithm insensitive to output disturbances. This removes the need for parameter freezing.