  The focus of this paper is on the co-design of control and communication
protocol for the control of multiple applications with unknown parameters using
a distributed embedded system. The co-design consists of an adaptive switching
controller and a hybrid communication architecture that switches between a
time-triggered and event-triggered protocol. It is shown that the overall
co-design leads to an overall switching adaptive system that has bounded
solutions and ensures tracking in the presence of a class of disturbances. In
order to achieve the goal of tracking persistent excitation techniques are
used.
