Adaptive Control Systems (eBook)

Cover 2
Contents 5
List of contributors 10
Preface 16
1. Adaptive internal model control 21
1.1 Introduction 21
1.2 Internal model control (IMC) schemes: known parameters 22
1.3 Adaptive internal model control schemes 27
1.4 Stability and robustness analysis 32
1.5 Simulation examples 38
1.6 Concluding remarks 39
References 41
2. An algorithm for robust adaptive control with less prior knowlege 43
2.1 Introduction 43
2.2 Problem formulation 45
2.3 Ordinary direct adaptive control with dead zone 47
2.4 New robust direct adaptive control 48
2.5 Robust adaptive control with least prior knowledge 52
2.6 Simulation example 56
2.7 Conclusions 58
References 58
3. Adaptive variable structure control 61
3.1 Introduction 61
3.2 Problem formulation 63
3.3 The case of relative degree one 66
3.4 The case of arbitrary relative degree 69
3.5 Computer simulations 76
3.6 Conclusion 79
Appendix 80
References 81
4. Indirect adaptive periodic control 83
4.1 Introduction 83
4.2 Problem formulation 85
4.3 Adaptive control scheme 88
4.4 Adaptive control law 89
4.5 Simulations 94
4.6 Conclusions 98
References 98
5. Adaptive stabilization of uncertain discrete-time systems via switching control: the method of localization 100
5.1 Introduction 100
5.2 Problem statement 106
5.3 Direct localization principle 109
5.4 Indirect localization principle 121
5.5 Simulation examples 128
5.6 Conclusions 132
Appendix A 132
Appendix B 135
References 136
6. Adaptive nonlinear control: passivation and small gain techniques 139
6.1 Introduction 139
6.2 Mathematical preliminaries 141
6.3 Adaptive passivation 147
6.4 Small gain-based adaptive control 158
6.5 Conclusions 175
References 176
7. Active identification for control of discrete-time uncertain nonlinear systems 179
7.1 Introduction 180
7.2 Problem formulation 181
7.3 Active identification 186
7.4 Finite duration 198
7.5 Concluding remarks 198
Appendix 201
References 7
8. Optimal adaptive tracking for nonlinear systems 204
8.1 Introduction 204
8.2 Problem statement: adaptive tracking 206
8.3 Adaptive tracking and atclf's 208
8.4 Adaptive backstepping 213
8.5 Inverse optimal adaptive tracking 217
8.6 Inverse optimality via backstepping 222
8.7 Design for strict-feedback systems 225
8.8 Transient performance 229
8.9 Conclusions 230
Appendix: A technical lemma 230
References 233
9. Stable adaptive systems in the presence of nonlinear parametrization 235
9.1 Introduction 235
9.2 Statement of the problem 238
9.3 Preliminaries 240
9.4 Stable adaptive NP-systems 248
9.5 Applications 256
9.6 Conclusions 265
Appendix: Proof of lemmas 266
References 278
10. Adaptive inverse for actuator compensation 280
10.1 Introduction 280
10.2 Plants with actuator nonlinearities 282
10.3 Parametrized inverses 283
10.4 State feedback designs 285
10.5 Output feedback inverse control 289
10.6 Output feedback designs 291
10.7 Designs for multivariable systems 295
10.8 Designs for nonlinear dynamics 301
10.9 Concluding remarks 304
References 305
11. Stable multi-input multi-output adaptive fuzzy/neural control 307
11.1 Introduction 307
11.2 Direct adaptive control 309
11.3 Indirect adaptive control 316
11.4 Applications 319
11.5 Conclusions 326
References 326
12. Adaptive robust control scheme with an application to PM synchronous motors 328
12.1 Introduction 329
12.2 Problem formation 330
12.3 Adaptive robust control with modification 332
12.4 Application to PM synchronous motors 337
12.5 Conclusion 340
Appendix A 341
Appendix B 342
Appendix C 344
Appendix D 345
Appendix E 346
Index 349