Controller switching based on output prediction errors

Judith Hocherman-Frommer, Sanjeev R. Kulkarni, Peter J. Ramadge

Research output: Contribution to journalArticlepeer-review

103 Scopus citations


We consider a switched nonlinear feedback control strategy for controlling a plant with unknown parameters so that the output asymptotically tracks a reference signal. The controller is selected on-line from a given set of controllers according to a switching rule based on output prediction errors. For control problems requiring asymptotic tracking of a reference input we provide sufficient conditions under which the switched closed-loop control system is exponentially stable and asymptotically achieves good control even if the switching does not stop. Our results are illustrated with three examples.

Original languageEnglish (US)
Pages (from-to)596-607
Number of pages12
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - 1998

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Adaptive control
  • Hybrid control
  • Supervisory control
  • Switching


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