Adaptive Control Systems

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 Contents......Page 5 List of contributors......Page 9 Preface......Page 15 1.1 Introduction......Page 21 1.2 Internal model control (IMC) schemes: known parameters......Page 22 1.3 Adaptive internal model control schemes......Page 27 1.4 Stability and robustness analysis......Page 32 1.5 Simulation examples......Page 38 1.6 Concluding remarks......Page 39 2.1 Introduction......Page 43 2.2 Problem formulation......Page 45 2.3 Ordinary direct adaptive control with dead zone......Page 47 2.4 New robust direct adaptive control......Page 48 2.5 Robust adaptive control with least prior knowledge......Page 52 2.6 Simulation example......Page 56 2.7 Conclusions......Page 58 3.1 Introduction......Page 61 3.2 Problem formulation......Page 63 3.3 The case of relative degree one......Page 66 3.4 The case of arbitrary relative degree......Page 69 3.5 Computer simulations......Page 76 3.6 Conclusion......Page 79 4.1 Introduction......Page 83 4.2 Problem formulation......Page 85 4.3 Adaptive control scheme......Page 88 4.4 Adaptive control law......Page 89 4.5 Simulations......Page 94 4.6 Conclusions......Page 98 5.1 Introduction......Page 100 5.2 Problem statement......Page 106 5.3 Direct localization principle......Page 109 5.4 Indirect localization principle......Page 121 5.5 Simulation examples......Page 128 Appendix 5A......Page 132 Appendix 5B......Page 135 6.1 Introduction......Page 139 6.2 Mathematical preliminaries......Page 141 6.3 Adaptive passivation......Page 147 6.4 Small gain-based adaptive control......Page 158 6.5 Conclusions......Page 175 7. Active identification for control of discrete-time uncertain nonlinear systems......Page 179 7.1 Introduction......Page 180 7.2 Problem formulation......Page 181 7.3 Active identification......Page 186 7.5 Concluding remarks......Page 198 8.1 Introduction......Page 204 8.2 Problem statement: adaptive tracking......Page 206 8.3 Adaptive tracking and atclf's......Page 208 8.4 Adaptive backstepping......Page 213 8.5 Inverse optimal adaptive tracking......Page 217 8.6 Inverse optimality via backstepping......Page 222 8.7 Design for strict-feedback systems......Page 225 8.8 Transient performance......Page 229 Appendix: A technical lemma......Page 230 9.1 Introduction......Page 235 9.2 Statement of the problem......Page 238 9.3 Preliminaries......Page 240 9.4 Stable adaptive NP-systems......Page 248 9.5 Applications......Page 256 9.6 Conclusions......Page 265 Appendix: Proof of lemmas......Page 266 10.1 Introduction......Page 280 10.2 Plants with actuator nonlinearities......Page 282 10.3 Parametrized inverses......Page 283 10.4 State feedback designs......Page 285 10.5 Output feedback inverse control......Page 289 10.6 Output feedback designs......Page 291 10.7 Designs for multivariable systems......Page 295 10.8 Designs for nonlinear dynamics......Page 301 10.9 Concluding remarks......Page 304 11.1 Introduction......Page 307 11.2 Direct adaptive control......Page 309 11.3 Indirect adaptive control......Page 316 11.4 Applications......Page 319 11.5 Conclusions......Page 326 12. Adaptive robust control scheme with an application to PM synchronous motors......Page 328 12.1 Introduction......Page 329 12.2 Problem formation......Page 330 12.3 Adaptive robust control with
modification......Page 332 12.4 Application to PM synchronous motors......Page 337 12.5 Conclusion......Page 340 Appendix A......Page 341 Appendix B......Page 342 Appendix C......Page 344 Appendix D......Page 345 Appendix E......Page 346 Index......Page 349 Contents 5 List of contributors 9 Preface 15 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 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 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 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 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 5A 132 Appendix 5B 135 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 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 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 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 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 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 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 Referex 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 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. This 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. This practical cookbook of adaptive control contains important research A handbook offering recent advances in techniques and algorithms of adaptive control for both linear and nonlinear systems, including various robust techniques, performance enhancement techniques, techniques with less a priori knowledge; adaptive switching techniques, nonlinear adaptive control techniques, and intelligent adaptive techniques. To demonstrate the potential of the described technology, as well as advance the field of adaptive control as an area of study, techniques are shown to provide practical solutions to real-life problems. Contributors include mechanical, electrical and computer engineers from universities around the world. This chapter develops a systematic theory for the design and analysis of adaptive internal model control schemes.