Concept : Switched adaptive controller

- a bank of transfer functions, or candidate system models, are being simulated with the current inputs to the real system
- for every model, we compare its output with the output measured from the real system, and integrate the difference over some time
- every one in a while, we select the controller that corresponds to the model with the best fitness
- we reset the models with the initial conditions measured from the real system periodically as well

As a result, we should get a somewhat okay adaptation of the control, since for every model, we have a properly tuned controller.
The switch can be made smooth by either going through a low-pass filter, or, better, smoothly transitioned from one input to the other with a variable going linearly in time.