Learning to Control Using a Convex Combination of Controllers

Athindran Ramesh Kumar, Peter J. Ramadge

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We explore the idea of online learning and control in concert with a form of robust control. The objective is to avoid excessive transients during the learning phase. We examine a controller formed as a convex combination of an aggressive and conservative controller. The stability of the convex combination is achieved using an adaptation law obtained from the appropriate derivatives of the spectral radius. We provide numerical results on a sinusoidal reference tracking experiment to verify the efficacy of our technique.

Original languageEnglish (US)
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781665441971
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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