抄録
A construction method of multiple control system which is operated under widely changing environmental conditions is proposed. The multiple control system consists of a nonlinear plant and a multiple controller. The multiple controller is composed of a family of candidate controllers together with a supervisor. Three robust performance criteria for stability and responsiveness are introduced to construct candidate controllers. The basic ideas of adaptation are as follows: (1) each candidate controller is prepared for each environmental condition in advance; (2) the supervisor applies a sequence of real-time trial controls to a plant with candidate controllers just after the control has started and just after the environmental condition has changed. It is important that for a sequence of trial controls each candidate controller keeps the system stable and at the same time uncertainty of identifying the environmental condition to which the system is exposed is gradually narrowed down. So, the most appropriate candidate controller is selected before the last trial control is ended. The feature of the proposed method is that the proposed multiple control system does not require any identification models for environmental conditions. Switching is carried out based on every tracking error between the plant output and each desired plant output which corresponds to each environmental condition. An application to an antiskid braking system clarifies the effectiveness of the proposed method.
