Control of nonlinear noisy systems affected by large uncertainties is approached via the introduction of a supervisor which, whenever needed, switches on, in feedback to the plant, a controller selected from a finite set of precomputed controllers. A Lyapunov-based falsification criterion allows one to ensure robust stability in the presence of uncertain constant parameters and exogenous bounded disturbances without a priori information on the system. Applicability of the method is illustrated through simulations on an automatic drug delivery system for anesthesia. (c) 2007 Elsevier Ltd. All rights reserved.