Robust adaptive control
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書誌事項
Robust adaptive control
PTR Prentice-Hall, 1996
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注記
Bibliography: p. 795-817
Includes index
内容説明・目次
内容説明
The area of adaptive control has grown to be one of the richest in terms of algorithms, design techniques, analytical tools, and modifications. To an outsider, however, the field of adaptive control may appear as a colloection of unrelated tricks and modifications. Robust Adaptive Control reduces the confusion and difficulty in understanding the design, analysis, and robustness of a wide class of adaptive control for continuous-time plants.
Presented in a tutorial style, this book unifies, simplifies, and presents most of the existing techniques for designing and analyzing adaptive control systems.
目次
1. Introduction.
Control System Design Steps. Adaptive Control. A Brief History.
2. Models for Dynamic Systems.
Introduction. State-Space Models. Input/Output Models. Plant Parametric Models. Problems.
3. Stability.
Introduction. Preliminaries. Input/Output Stability. Lyapunov Stability. Positive Real Functions and Stability. Stability of LTI Feedback System. Problems.
4. On-Line Parameter Estimation.
Introduction. Simple Examples. Adaptive Laws with Normalization. Adaptive Laws with Projection. Bilinear Parametric Model. Hybrid Adaptive Laws. Summary of Adaptive Laws. Parameter Convergence Proofs. Problems.
5. Parameter Identifiers and Adaptive Observers.
Introduction. Parameter Identifiers. Adaptive Observers. Adaptive Observer with Auxiliary Input. Adaptive Observers for Nonminimal Plant Models. Parameter Convergence Proofs. Problems.
6. Model Reference Adaptive Control.
Introduction. Simple Direct MRAC Schemes. MRC for SISO Plants. Direct MRAC with Unnormalized Adaptive Laws. Direct MRAC with Normalized Adaptive Laws. Indirect MRAC. Relaxation of Assumptions in MRAC. Stability Proofs in MRAC Schemes. Problems.
7. Adaptive Pole Placement Control.
Introduction. Simple APPC Schemes. PPC: Known Plant Parameters. Indirect APPC Schemes. Hybrid APPC Schemes. Stabilizability Issues and Modified APPC. Stability Proofs. Problems.
8. Robust Adaptive Laws.
Introduction. Plant Uncertainties and Robust Control. Instability Phenomena in Adaptive Systems. Modifications for Robustness: Simple Examples. Robust Adaptive Laws. Summary of Robust Adaptive Laws. Problems.
9. Robust Adaptive Control Schemes.
Introduction. Robust Identifiers and Adaptive Observers. Robust MRAC. Performance Improvement of MRAC. Robust APPC Schemes. Adaptive Control of LTV Plants. Adaptive Control for Multivariable Plants. Stability Proofs of Robust MRAC Schemes. Stability Proofs of Robust APPC Schemes. Problems.
Appendices.
Swapping Lemmas. Optimization Techniques.
Bibliography.
Index.
License Agreement and Limited Warranty.
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