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Abstract

A scheme for management of uncertainty in control systems that require adaptation is described. The scheme removes as much uncertainty as possible at design time and manufacturing time by taking advantage of available compute resources in pre-computing a large set of robustness-performance tradeoff based model controllers at different operating conditions for different values of uncertainty parameters that occur in-use and in manufacturing. A group of control models, and corresponding model controllers with an uncertainty bound larger than the best-tuned controller, are generated. A subset of the model controllers is implemented in the system at manufacturing time based on characterization of the system. The subset of model controllers is switched at run time based on transient information received during operation of the system.

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