New Trends in Design of Control Systems 1994 (eBook)

Front Cover 1
New Trends in Design of Control Systems 2
Copyright Page 3
Table of Contents 6
IFAC WORKSHOP ON NEW TRENDS IN DESIGN OF CONTROL SYSTEMS 4
PART I: NONLINEAR SYSTEMS I 12
CHAPTER 1. TOOLS IN NONLINEAR SYSTEM THEORY. OUTPUT INJECTIONS AND CANONICAL FORMS 12
1 Introduction 12
2 Differential Forms 13
3 Canonical Form 13
4 Separability Condition 15
5 Examples 15
References 16
CHAPTER 2. OUTPUT TRACKING FOR A CLASS OF SINGLE-INPUT SINGLE-OUTPT NONLINEAR SYSTEMS: CASE OF POLYNOMIAL REFERENCE SIGNALS * 18
1 INTRODUCTION 18
2 NOTATION AND BASIC BACKGROUNG MATE-RIAL 18
3 PRELIMINARY RESULTS 19
4 MAIN RESULT 20
5 CONCLUSION 23
REFERENCES 23
CHAPTER 3. OUTPUT FEEDBACK STABILIZATION OF NONLINEAR SYSTEMS: TOOLS AND EXAMPLES 24
1. INTRODUCTION AND PROBLEM STATEMENT 24
2 . TOOLS AND EXAMPLES 25
3. CONCLUSIONS 27
4. ACKNOWLEDGEMENTS 27
5. REFERENCES 27
CHAPTER 4 . Robust LQ design by a sliding manifold approach 28
1 INTRODUCTION 28
2 THE LQ REGULATION PROBLEM 28
3 ROBUSTNESS PROPERZ TIES 29
4 REFERENCES 30
CHAPTER 5. A MIMO VSS-TYPE SELF-TUNING CONTROL FOR A REMOTELY OPERATED VEHICLE. 34
1. INTRODUCTION 34
2. ROV DYNAMICS 34
3. MINIMUM VARIANCE VSS CONTROLLER 36
4. MIMO SELF TUNING VSS CONTROLLER 36
4. IMPLEMENTATION AND RESULTS 38
5. CONCLUSIONS 39
6. REFERENCES 39
CHAPTER 6. OPTIMAL TERMINAL STATE CONTROL WITH DISTURBANCE REJECTION FOR SYSTEMS WITH TIME DELAY 40
1 Introduction 40
Notation 40
2 Problem Statement 41
3 Main Result 41
4 Conclusions 43
5 References. 43
CHAPTER 7. A new system structure theory. Application to system properness 44
Abstract. 44
Introduction. 44
2. The new definitions. 46
3. Some basic features of the new concepts. 47
4. Computing. 47
5. Comparing with the classical approach 48
6. Application to system properness 48
References. 49
CHAPTER 8. A LINEAR ALGEBRAIC FRAMEWORK FOR FEEDBACK LINEARIZAOTION OF DISCRETE-TIME NONLINEAR SYSTEMS 50
1. INTRODUCTION 50
2. ALGEBRAIC FORMALISM 50
3. STATIC STATE FEEDBACK LINEARIZATION 52
4. DYNAMIC STATE FEEDZ BACK LINEARIZATION 53
CONCLUSION 55
ACKNOWLEDGMENTS 55
REFERENCES 55
CHAPTER 9. AN OBSERVER FOR A ONE FLEXIBLE JOINT ROBOT B Y AN ALGEBRAIC METHOD 56
1. INTRODUCTION 56
2. LINEARIZATION AND OBSERVER SYNTHESIS 56
3. OBSERVER OF A SINGLE FLEXIBLE JOINT ROBOT 59
4. CONCLUSION 61
REFERENCES 61
CHAPTER 10. 
62 
1 SYSTEMS 63
2 QUASI-STATIC STATE FEEDBACK 63
3 FEEDBACK SYNTHESIS PROBLEMS 64
4 EX. 1: AN OVERHEAD CRANE 64
5 EX. 2: NONLINEAR CIRCUIT 65
6 EX. 3: CASCADE OF CHEMICAL REACTORS 66
REFERENCES 67
PART II: POSTER PAPERS I 68
CHAPTER 11. 
68 
1. INTRODUCTION 68
2. SYSTEM MODELLING 68
3. ROBUST COMPLIANT CONTROL 70
4. CONCLUSION 71
5. REFERENCES 71
CHAPTER 12. 
72 
I. INTRODUCTION 72
2. DESCRIPTION OF THE CONTEMPORARY STATE 72
3. DYNAMIC PROPERTIES OF CONTROLLED PLANT 73
4. DESIGNED ALGORITHM 74
5. CONCLUSION 74
6. REFERENCE 74
CHAPTER 13. 
76 
1. INTRODUCTION 76
2. PARAMETRIC DISTURBANCES 76
3. NON-INVARIANT POSITION SERVOSYSTEM OF THE ROBOT 77
4. INVARIANT SERVOSYSTEM OF THE ROBOT 79
5. CONCLUSION 81
6. REFERENCES 81
CHAPTER 14. 
84 
1 INTRODUCTION 84
2 METHOD OVERVIEW 85
3 QUADRATIC AND CUOBIC INTERPOLATORS 86
4 CONCLUSIONS 87
5 ACKNOWLEDGEMENT 88
REFERENCES 88
CHAPTER 15. 
90 
1. INTRODUCTION 90
2. CONTROL AND 5. GENERATION 90
3. CASE 91
4. CASE - CAP BRIDGE 91
5. TEACHING 92
6. CONCLUSION 92
REFERENCES 92
CHAPTER 16. 
94 
1. INTRODUCTION 94
2. THEORETICAL 94
3. PROGRAM DESCRIPTION 94
4. PROGRAM DEMONSTRATION 96
5. CONCLUSION 96
6. REFERENCES 96
CHAPTER 17. 
98 
1. INTRODUCTION 98
2. FLEXIBLE MANUFACTURING SYSTEMS AND CELLS IN INDUSTRY 98
3. FM CELLS FOR RESEARCH AND DEVELOPMENT 100
4. CONCLUSIONS 104
5. REFERENCES 104
PART III: 
106 
CHAPTER 18. SPEED-GRADIENT AND SPEED-DIFFERENCE ALGORITHMS FOR -MATCHED PROBLEMS OF NONLINEAR CONTROL 106
1. INTRODUCTION 106
2. SPEED-GRADIENT ALGORITHM 106
3. SPEED-DIFFERENCE ALGORITHM 107
4. MAIN RESULTS 108
6. CONVERGENCE OF THE TRAJECTORIES IN THE FINITE TIME 109
7. APPLICABILITY OF THE ITERATIVE DESIGN UNDER BOUNDED DISTURBANCES 109
8. CONCLUSION 110
9. REFERENCES 110
CHAPTER 19. 
112 
1. INTRODUCTION 112
2. A NEW CONTROLLER STRUCTURE 112
3, A GENERIC SCHEME FOR OPTIMAL POLE PLACEMENT CONTROLLERS 113
4. FURTHER POSSIBILITIES 115
5. CONCLUSIONS 115
6. REFERENCES 115
CHAPTER 20. 
116 
1. INTRODUCTION 116
2. AUXILIARITY OF LRPC SYNTHESIS PROBLEM 117
3. NONLINEAR PREDICTIVE ALGORITHM 117
4. APPLICATION TO EVAPORATION PROCESS 118
5. CONCLUSION 121
REFERENCES 121
CHAPTER 21. 
122 
1. INTRODUCTON 122
2. LINEAR POLE ASSIGNMENT CONTROL 123
3. REFERENCE BRAKING CURVE OF THE SATURATING CONTROLLER 125
4. PROPORTIONAL ZONE OF THE SATURATING CONTROLLER 126
5. CONCLUSIONS 127
REFERENCES: 127
PART IV: 
128 
CHAPTER 22. Specification, Analysis and validation of distributed CONTROL SYSTEM: THE ACSY-R MODEL 128
1. INTRODUCTION 128
2. SOFTWARE COMMAND SYSTEM SPECIFICATION 128
3. ARCHITECTURE ANALYSIS AND VALIDATION 130
4. ACSY-R METHODOLOGY 132
5. THE ASSOCIATED TOOL: SOFTWARE PRODUCER 132
6. CONCLUSION 133
7. References 133
CHAPTER 23. 
134 
1. INTRODUCTION 134
2. KINEMATICS OF DUAL-ARM SYSTEM 135
3. AN ADMISSIBLE PATH PLANNING 136
4. PATH APPROXIMATION 136
5. A FEASIBLE VELOCITY DETERMINATION PROBLEM 137
6. COMPUTATIONAL EXAMPLE 137
7. CONCLUSIONS 138
8. REFERENCES 138
CHAPTER 24. FUZZY CONTROL OF AN IRON ORE SINTER PLANT 140
1. INTRODUCTION 140
2. BUNKER LEVEL CONTROL 140
3. BURN-TROUGH-POINT CONTROL 142
4. SIMULATION RESULTS 143
5. CONCLUSION 144
6. REFERENCES 144
CHAPTER 25. 
146 
1. INTRODUCTION 146
2. STRUCTURE OF ADAPTIVE CONTROL SYSTEM 147
3. EXPERIMENTAL RESULTS 149
4. CONCLUSION 151
S. REFERENCES 151
CHAPTER 26. METHODOLOGY OF SITUATIONAL CONTROL CREATION AND ITS APPLICATION 152
1. INTRODUCTION 152
2. SITUATIONAL CONTROL OF COMPLEX TECHNICAL SYSTEMS 153
3 . APPLICATION OF SITUATIONAL CONTROL OF AN AUTOMATED WORKPLACE 153
4. CONCLUSION 154
5. REFERENCES 154
PART V: 
160 
CHAPTER 27. 
160 
1. INTRODUCTION 160
2. DESIGN OF THE ALGEBRAIC FEEDFORWARD-FEEDBACK DEAD-BEAT CONTROLLER. 161
3. IMC PARAMETRIZATION OF CONTROLLER AND IMC FILTERS. 162
4. EXAMPLE: HYDRAULIC VELOCITY SERVOSYSTEM. 164
5. CONCLUSION. 165
6. REFERENCES 165
CHAPTER 28. 
166 
1. INTRODUCTION 166
2. DECENTRALIZED CONTROL WITH DISCRETE EVENTS 166
3. DECENTRALIZED ADAPTIVE OPTIMAL RELIABLE CONTROL 167
4. CONCLUSION 169
5. REFERENCES 169
CHAPTER 29. ON THE INTERPRETATION OF H8 CRITERION 170
1. INTRODUCTION 170
2. ROBUST MARGINS 170
3. A GAIN SENSITIVITY REQUIREMENT 171
4. THE M -a AND E-ß CURVES 171
5. INTERPRETATION OF H8 ROBUSTNESS IN FREQUENCY DOMAIN 172
6. CONCLUSIONS 173
7. REFERENCES 173
CHAPTER 30. SYNTHESIS OF LINEAR CONTROLLERS USING PAIRWISE AUTONOMOUS SUBSYSTEM APPROACH 174
1. INTRODUCTION 174
2. PROBLEM FORMULATION 174
3. SOLUTION OF THE LINEAR-QUADRATIC PROBLEM 175
4. SIMULATION RESULTS 176
4. CONCLUSION 176
5. REFERENCES 177
CHAPTER 31. IDENTIFICATION OF DISCONTINUOUS BLOCK-ORIENTED NONLINEAR DYNAMIC SYSTEMS 178
INTRODUCTION 178
DISCONTINUOUS NONLINEARITY DECOMPOSITION 178
DISCONTINUOUS HAHMERSTEIN MODEL 179
IDENTIFICATION ALGORITHM 180
EXAMPLES 180
CONCLUSIONS 182
REFERENCES 183
PART VI: 
184 
CHAPTER 32. DIRECT CALCULATION OF STABILITY MARGINS 184
1. INTRODUCTION 184
2. ELEMENTS FROM ALGEBRA 184
3. THE FRAMEWORK 185
4. ALGEBRAIC STABILITY CRITERIA 185
5. THE CALCULATION ALGORITHM 186
6. EXTENSIONS AND APPLICATIONS 186
7. CONCLUSION 189
8. REFERENCES 189
CHAPTER 33. Design of Optimal Controllers with Respect to Time and Frequency Domain Specifications 190
1. INTRODUCTION 190
2. NUMERICAL CALCULATION OF GLOBALLY OPTIMAL CONTROLLERS 190
3. CONTROLLER DESIGN AS A CONVEX OPTIMIZATION PROBLEM 191
4. EXAMPLE 192
5. CONCLUSION 194
6. REFERENCES 194
CHAPTER 34. A NEW ALGORITHM FOR ROBUSTNESS ANALYSIS VIA THE STRUCTURED SINGULAR VALUE µ 196
1. INTRODUCTION 196
2. BACKGROUND 196
3. CONVEX ESTIMATES OF µ 198
4. A NEW ALGORITHM FOR µ.. 198
5. COMPUTING EXPERIENCE 200
6. CONCLUSIONS 201
CHAPTER 35. EXPERIMENTAL EVALUATION OF PARTIAL STATE REFERENCE MODEL CONTROL RELEVANT IDENTIFICATION 204
1 INTRODUCTION 204
2 PROBLEM FORMULATION 204
3 EXPERIMENTAL EVALUATION 207
4 CONCLUSION 208
REFERENCES 208
CHAPTER 36. ROBUST REGULATION FOR FLEXIBLE PIEZOELECTRIC STRUCTURES 210
1 INTRODUCTION 210
2 DYNAMIC MODEL OF THE STRUCTURE 210
3 ROBUST REGULATION 211
4 SIMULATION RESULTS 214
5 CONCLUSIONS 215
ACKNOWLEDGEMENTS 215
REFERENCES 215
APPENDIX 215
CHAPTER 37. 
216 
1 Introduction 216
2 Systems description and problem formulation 217
3 Robust stability and guaranteed cost property 218
4 Conclusion 218
References 219
CHAPTER 38.DECENTRALIZED STABILIZATION OF DISCRETE-TIME SYSTEMS: SUBSYSTEM ROBUSTNESS APPROACH 220
1. INTRODUCTION 220
2. SYSTEM ROBUSTNESS BOUND ESTIMATE 220
3. STABILITY OF DISCRETE-TIME LSS 221
4. STABILIZATION CONTROL OF LSS 222
5. CONCLUSION 224
6. REFERENCES 224
CHAPTER 39. AN ALGORITHM FOR STEADY-STATE OPTIMIZING DUAL CONTROL OF UNCERTAIN PLANTS 226
1. INTRODUCTION 226
2. PROBLEM FORMULATION AND ISOPE PRINCIPLE 227
3. NEW ALGORITHM 227
4. ALGORITHM PROPERTIES 229
5. SIMULATION RESULTS 230
REFERENCES 231
CHAPTER 40. FURTHER RESULTS IN NON-LYAPUNOV STABILITY ROBUSTNESS OF GENERALIZED STATE-SPACE SYSTEMS 232
1. INTRODUCTON 232
2. INITIAL CONSIDERATIONS 233
3. MAIN RESULTS 233
4. CONCLUSION 236
5. REFERENCES 236
CHAPTER 41. DECENTRALIZED VARIABLE STRUCTURE CONTROL OF COMPLEX SYSTEMS 238
1. INTRODUCTION 238
2 . PROBLEM STATEMENT 238
3. MAIN RESULTS 239
4. VSS - DC DESIGN 240
5. CONCLUSIONS 243
6 . REFERENCES 243
PART VII: 
244 
CHAPTER 42. STABILITY BASED DESIGN OF FUZZY LOGIC CONTROLLER 244
1. INTRODUCTION 244
2. MAIN TOPICS 244
3. FORMULATION OF THE PROBLEM 244
4. STABILITY ANALYSIS BY CLASSICAL METHODS 245
5. SPECIALISED FUZZY CONTROLLER 246
6. DESIGN METHOD 247
7. EXAMPLE 248
8. SUMMARY 249
9. REFERENCES 249
CHAPTER 43. DECENTRALIZED ADAPTIVE CONTROL BASED DELTA MODEL REPRESENTATION 250
1. INTRODUCTION 250
2. PROBLEM STATEMENT 250
3. LOCAL SUBSYSTEM CONTROL 251
4. GLOBAL CONTROL 251
5. RECURSIVE IDENTIFICATION OF DELTA MODELS 252
6. NUMERICAL EXAMPLES 252
7. CONCLUSION 255
8. REFERENCES 255
CHAPTER 44. ADAPTIVE SLIDING MODE CONTROL OF POSITION SERVO SYSTEM 256
1. INTRODUCTION 256
2. ADAPTIVE SLIDING MODE STRATEGY 257
3. DESCRIPTION OF EXPERIMENTAL SYSTEM 258
4. DESIGN CONSIDERATIONS 259
5. EXPERIMENTAL RESULTS 260
6. CONCLUSIONS 261
7. REFERENCES 261
CHAPTER 45. ADAPTIVE CONTROL OF CONTINUOUS BIOPROCESSES 262
1. INTRODUCTION 262
2. MATHEMATICAL MODEL 263
3. SELF-TUNING EXTREMUM CONTROL 263
4. THE ISOPE OPTIMISING PROCEDURE 264
5. RESULTS AND DISCUSSION 265
6. CONCLUSION 267
7. REFERENCES 267
CHAPTER 46. ROBUST FUZZY-LOGIC CONTROL OF CONVERTER - SYNCHRONOUS MOTOR DRIVE 268
1. INTRODUCTION 268
2. CONTROL SYSTEM 268
3. FUZZY CONTROLLER 269
4. THE SIMULATION RESULTS 270
5. VERIFICATION OF SIMULATION RESULTS 271
6 . CONCLUSION 272
PARAMETERS OF THE SYSTEM 273
NOMENCLATURE 273
REFERENCES 273
CHAPTER 47. 
274 
1 INTRODUCTION 274
2 SYSTEM DESCRIPTION. 274
3 SYSTEM IDENTIFICAOTION. 274
4 THE H8 ROBUST CONTROLLER 275
5 EXPERIMENTAL RESULTS 276
6 CONCLUSION 276
7 REFERENCES 277
CHAPTER 48. 
278 
1. INTRODUCTION 278
2. REVIEW OF PARAMETER TRACKING 278
3. MOTIVATION 279
4. THE NEW ALGORITHM 279
5. SIMULATION EXAMPLE 282
6. CONCLUSION 283
7. ACKNOWLEDGMENTS 283
REFERENCES 283
CHAPTER 49. 
284 
1. INTRODUCTION 284
2. ALGORITHM OF THE CONTROL SYNTHESIS 284
3. ALGORITHM STC PID 287
4. SIMULATION VERIFICATION AND CONCLUSION 287
5. REFERENCES 289
ACKNOWLEDGMENT 289
CHAPTER 50. 
290 
I. INTRODUCTION 290
II. SIGMA DELTA MODULATION 290
III. A CLOSED-LOOP DIGITAL TRANSDUCER 291
IV. CONTROL SYSTEM ASPECTS 291
V LIMIT CYCLE PREDICTION 292
VI. CLOSED LOOP PERFORMANCE 293
VII. CONCLUSIONS 293
REFERENCES 294
CHAPTER 51. PROGRAM TRANSFORMATIONS FOR DISTRIBUTED CONTROL SYSTEMS 296
1 Introduction 296
2 CSP and its normal forms 297
3 Transformations for the development of distributed applications 298
4 The transformational tool box 300
5 Conclusion 301
References 301
PART VIII: 
302 
CHAPTER 52. THE LIFTED AND CYCLIC REFORMULATIONS IN THE MINOIMAL REALIZATION OF LINEAR DISCRETE-TIME PERIODIC SYSTEMS 1 302
1 Introduction 302
2 Invariant reformulations of periodic systems 302
3 The realization problem 305
References 307
CHAPTER 53. 
308 
1 Introduction 308
2 Memoryless periodic output feedback for stationary systems 309
3 Memoryless periodic output feedback for periodic linear systems 310
References 312
Acknowledgments 312
4 Appendix 312
CHAPTER 54. 
314 
1. INTRODUCCTION 314
2. PERIODIC REALIZATIONS 314
3. MINIMAL PERIODIC REALIZATIONS 315
4. DIMENSION OF THE MINIMAL AND C-MINIMAL PERIODIC REALIZATIONS 316
5. REFERENCES 317
CHAPTER 55. 
320 
1 Introduction 320
2 Periodic System Representation 320
3 State Space Analysis 323
4 Periodic Symmetry Group 324
5 Periodic Realization 324
6 Periodic Robust Control 324
References 325
PART IX: 
326 
CHAPTER 56. 
326 
1. INTRODUCTION 326
2. HOOD/PNO OVERVIEW 327
3. FMS CONTROL DESIGN USING HOOD/PNO 328
4. CONCLUSION 330
5. REFERENCES 330
CHAPTER 57. 
332 
1. INTRODUCTION 332
2. PROBLEM FORMULATION 333
3. COMPLEXITY 333
4. A CUTTING PLANE ALGORITHM 335
5. EXPERIMENTAL RESULTS 336
6. CONCLUSIONS 336
7. APPENDIX 336
8. REFERENCES 337
CHAPTER 58. LONG-RUN BEHAVIOR OF THE ASYNCHRONOUS ASSEMBLY AUTOMATIC SYSTEM 338
1. INTRODUCTION 338
2. DESCRIPTION OF SYSTEM 338
3. GSMP MODEL 338
4. LONG-RUN BEHAVIOR 340
5. CONCLUSION 342
6. REFERENCES 342
CHAPTER 59. 
344 
1. INTRODUCTION 344
2. OBJECT AND OBJECT STATE CLASSES 345
3. THE STATIC STRUCTURE OF THE 0 -0 MODEL 345
4. DYNAMICS OF THE 0 -0 MODEL 346
5. CONCLUSION 348
6 . REFERENCES 348
APPENDIX 349
CHAPTER 60. 
350 
1. INTRODUCTION 350
2. CONCEPTION OF THE SUPERVISORY CONTROL 350
3. THE SUPERVISORY CONTROL APPLIED FOR PRACTICAL PROBLEMS 351
4. PETRI NETS: BASIC DEFINITIONS AND PROPERTIES 352
5. A CLASS OF PETRI NETS INTERPRETED FOR CONTROL AND THE SUPERVISORY CONTROL 352
6. CONCLUSION 355
5. REFERENCES 355
CHAPTER 61. 
356 
1. INTRODUCTION 356
2. MATHEMATICAL MODELLING 356
3. THE CONTROL SYNTHESIS 358
4. THE KNOWLEDGE REPRESENTATION 359
5. THE ILLUSTRATIVE EXAMPLE 360
6. CONCLUSIONS 361
7. REFERENCES 361
PART X: 
362 
CHAPTER 62. 
362 
1. INTRODUCTION 362
2. THEORETICAL STRUCTURAL DEPENDABILITY MODEL OF A CONTROL SYSTEM 363
3. RESULTS FROM VERIFICATION OF A DEPENDABILITY MODEL OF A CONTROL SYSTEM 364
4. CONCLUSION 365
5. REFERENCES 365
CHAPTER 63. 
366 
1. INTRODUCTION 366
2. PETRI NETS AND T-INVARIANTS 367
3. GENERALIZED T-INVARIANTS 368
4. CONCLUSION 371
5. REFERENCES 371
CHAPTER 64. 
372 
1. INTRODUCTION 372
2. CONSTRAINT LOGIC PROGRAMMING 372
3. SCHEDULING 372
4. A SIMPLE SCHEDULER 373
5. A MORE COMPLEX EXAMPLE 374
6. ALLEN’S TEMPORAL RELATIONSHIPS 375
7. CONCLUSIONS 376
8. REFERENCES 377
CHAPTER 65. 
378 
1. INTRODUCTION 378
2. MACROSITUATIONS AND CLUSTER ANALYSIS 378
3. HIERARCHICAL AND NON-HIERARCHICAL CLUSTERING 379
4. COEFFICIENTS OF UNSIMILARITY OF CLUSTERS 379
5. STRUCTURE OF EXPERIMENTS FOR REALIZATION OF CLUSTERING 379
5. REFERENCES 380
REFERENCES 383
PART XI: ROUND TABLE DISCUSSION 382
CHAPTER 66. ABOUT NEW TRENDS IN DESIGN OF CONTROL SYSTEMS 382
CHAPTER 67 
384 
Professor Antti J. Niemi 384
References 384
Professor George Bekey 384
Professor Stefan Kozak 385
Professor Chris P. Lewis 387
References 388
Professor Eugen Saffert 388
Dr.-Ing. Branislaw Hniz 388
Reference 388
PART XII: ADAPTIVE AND SELFTUNING CONTROL 390
CHAPTER 68 
390 
1. INTRODUCTION 390
2. PRINCIPLES OF CONVENTIONAL CONTROL 390
3. EXAMPLE 1: CONTROL OF ROBOT HANDS 391
4. EXAMPLE 2: EVOLUTION OF WALKING BEHAVIOR IN LEGGED ROBOTS 392
5. EXAMPLE 3: CONTROL OF AN AUTONOMOUS ROBOT HELICOPTER 392
6. OBSERVATIONS AND CONCLUSIONS 393
7. REFERENCES 394
CHAPTER 69 . NONLINEAR ADAPTIVE CONTROL: REGULATION-TRACKING-OSCILLATIONS 396
1. INTRODUCTION 396
2. THE FORMULATION OF THE ADAPTIVE CONTROL PROBLEM 396
3. SPEED GRADIENT ALGORITHMS 397
4. MODEL REFERENCE CONTROL AND SYNCHRONIZING OSCILLATIONS 398
5. CONTROL OF CHAOTIC OSCILLATIONS. 399
6. SPEED-GRADIENT ALGORITHMS FOR HAMILTONIAN SYSTEMS 399
7. CONCLUSIONS 400
8. ACKNOWLEDGMENTS 400
9. REFERENCES 400
CHAPTER 70 . NONLINEAR SELFTUNING CONTROLLER BASED UPON LAGUERRE SERIES REPRESENTATION 402
1. INTRODUCTION 402
2. PROBLEM STATEMENT 402
3. CONCLUSIONS 408
4. REFERENCES 408
CHAPTER 71. 
410 
1. INTRODUCTION 410
2. TIME DOMAIN CALCULATIONS 410
3. TIME SERIES CONTROLLER 412
4. SIMULATION EXAMPLES 414
5. CONCLUSION 415
6 . REFERENCES 415
CHAPTER 72 . STABLE CONSTRAINED PREDICTIVE CONTROL 416
1 INTRODUCTION 416
2 POLE PLACEMENT ALGORITHM 416
3 CONSTRAINED PREDICTIVE CONTROL 417
4 SIMULATION RESULTS 419
5 CONCLUSIONS 421
6 REFERENCES 421
CHAPTER 73 . A DESIGN METHODOLOGY FOR THE ROBUST STABILIZATION PROBLEM 422
1 INTRODUCTION 422
2 PRELIMINARIES 422
3 PARAMETER VARIATIONS ON 423
4 DESIGN ALGORITHM 424
5 EXAMPLES 424
6 CONCLUSION 425
REFERENCES 425
CHAPTER 74 . AUGMENTED EMULATION AND COMPENSATION OF COMPUTATIONAL DELAY IN LINEAR CONTROL SYSTEMS 428
1. INTRODUCTION 428
2. SAMPLING PERIOD SELECTION 428
3. PHASE ADVANCE COMPENSATOR 431
4. RESULTS 431
5. CONCLUSION 433
6. REFERENCES 433
CHAPTER 75. DESIGN OF DISTRIBUTED PARAMETER SYSTEMS OF CONTROL 434
1. INTRODUCTION 434
2. DISTRIBUTED PARAMETER SYSTEMS OF CONTROL 434
3. DPSC BLOCKS DESIGN 436
4. CYBERNETICALLY OPTIMAL STRUCTURES OF MACHINES AND DEVICES 438
5. CONCLUSION 439
6. REFERENCES 439
CHAPTER 76. A SIMPLIFIED APPROACH TO PARAMETER DESIGN OF SPECTRAL OBSERVERS 440
1. INTRODUCTION 440
2. SIGNAL MODEL OBSERVATION 440
3. GAIN VECTOR SOLUTION 441
4. UPDATING RECURSIVE TRANSFORMS 442
5. SPECTRAL OBSERVERS OF RECURSIVE DFT IN QUADRATURE FORM 442
6. KALMAN SPECTRAL OBSERVERS 443
7. CONCLUDING REMARKS 444
8. REFERENCES 445
AUTHOR INDEX 446