This paper proposes a multiple-model adaptive control methodology, using
set-valued observers (MMAC-SVO) for the identification subsystem, that is able
to provide robust stability and performance guarantees for the closed-loop,
when the plant, which can be open-loop stable or unstable, has significant
parametric uncertainty. We illustrate, with an example, how set-valued
observers (SVOs) can be used to select regions of uncertainty for the
parameters of the plant.