Adaptive control is no longer just an important theoretical field of study, but is also providing solutions to real-world problems. Adaptive techniques will transform the world of control. The leading world practitioners of adaptive control have contributed to this handbook which is the most important work yet in this field. Not only are techniques described in theory, but detailed control algorithms are given, making this a practical cookbook of adaptive control for both control professionals and practising engineers. The book presents the most advanced techniques and algorithms of adaptive control. These include various robust techniques, performance enhancement techniques, techniques with less a-priori knowledge, nonlinear adaptive control techniques and intelligent adaptive techniques. Each technique described has been developed to provide a practical solution to a real-life problem. This volume will therefore not only advance the field of adaptive control as an area of study, but will also show how the potential of this technology can be realised and offer significant benefits. Practical cookbook of adaptive control Contains important research
Author(s): Gang Feng Ph.D. M.Eng. B.Eng., Rogelio Lozano
Publisher: Newnes
Year: 1999
Language: English
Pages: 350
Contents......Page 3
List of contributors......Page 7
Preface......Page 12
1.1 Introduction......Page 17
1.2 Internal model control (IMC) schemes: known parameters......Page 18
1.3 Adaptive internal model control schemes......Page 23
1.4 Stability and robustness analysis......Page 28
1.5 Simulation examples......Page 34
1.6 Concluding remarks......Page 35
2.1 Introduction......Page 39
2.2 Problem formulation......Page 41
2.3 Ordinary direct adaptive control with dead zone......Page 43
2.4 New robust direct adaptive control......Page 44
2.5 Robust adaptive control with least prior knowledge......Page 48
2.6 Simulation example......Page 52
2.7 Conclusions......Page 54
3.1 Introduction......Page 57
3.2 Problem formulation......Page 59
3.3 The case of relative degree one......Page 62
3.4 The case of arbitrary relative degree......Page 65
3.5 Computer simulations......Page 72
3.6 Conclusion......Page 75
4.1 Introduction......Page 79
4.2 Problem formulation......Page 81
4.3 Adaptive control scheme......Page 84
4.4 Adaptive control law......Page 85
4.5 Simulations......Page 90
4.6 Conclusions......Page 94
5.1 Introduction......Page 96
5.2 Problem statement......Page 102
5.3 Direct localization principle......Page 105
5.4 Indirect localization principle......Page 117
5.5 Simulation examples......Page 124
Appendix 5A......Page 128
Appendix 5B......Page 131
6.1 Introduction......Page 135
6.2 Mathematical preliminaries......Page 137
6.3 Adaptive passivation......Page 143
6.4 Small gain-based adaptive control......Page 154
6.5 Conclusions......Page 171
7. Active identification for control of discrete-time uncertain nonlinear systems......Page 175
7.1 Introduction......Page 176
7.2 Problem formulation......Page 177
7.3 Active identification......Page 182
7.5 Concluding remarks......Page 194
8.1 Introduction......Page 200
8.2 Problem statement: adaptive tracking......Page 202
8.3 Adaptive tracking and atclf's......Page 204
8.4 Adaptive backstepping......Page 209
8.5 Inverse optimal adaptive tracking......Page 213
8.6 Inverse optimality via backstepping......Page 218
8.7 Design for strict-feedback systems......Page 221
8.8 Transient performance......Page 225
Appendix: A technical lemma......Page 226
9.1 Introduction......Page 231
9.2 Statement of the problem......Page 234
9.3 Preliminaries......Page 236
9.4 Stable adaptive NP-systems......Page 244
9.5 Applications......Page 252
9.6 Conclusions......Page 261
Appendix: Proof of lemmas......Page 262
10.1 Introduction......Page 276
10.2 Plants with actuator nonlinearities......Page 278
10.3 Parametrized inverses......Page 279
10.4 State feedback designs......Page 281
10.5 Output feedback inverse control......Page 285
10.6 Output feedback designs......Page 287
10.7 Designs for multivariable systems......Page 291
10.8 Designs for nonlinear dynamics......Page 297
10.9 Concluding remarks......Page 300
11.1 Introduction......Page 303
11.2 Direct adaptive control......Page 305
11.3 Indirect adaptive control......Page 312
11.4 Applications......Page 315
11.5 Conclusions......Page 322
12. Adaptive robust control scheme with an application to PM synchronous motors......Page 324
12.1 Introduction......Page 325
12.2 Problem formation......Page 326
12.3 Adaptive robust control with modification......Page 328
12.4 Application to PM synchronous motors......Page 333
12.5 Conclusion......Page 336
Appendix A......Page 337
Appendix B......Page 338
Appendix C......Page 340
Appendix D......Page 341
Appendix E......Page 342
Index......Page 344
