Robust Adaptive Control, Volume 1
Most of the confusion and difficulty in understanding the design, analysis and robustness of a wide class of adaptive systems for continuous-time plants should be removed by this book. Presenting techniques for designing and analyzing adaptive systems in a tutorial manner, this text covers models for dynamic systems, stability, on-line parameter estimation, parameter identifiers, model reference adaptive control, adaptive pole placement control and robust adaptive laws.
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Parameter Identiﬁers and Adaptive Observers
7 other sections not shown
adaptive control schemes adaptive observer analysis analytic in Re[s analyze APPC scheme assumption B-G Lemma boundedness Chapter choose closed-loop plant coefficients control law control objective controller parameters converges to zero coprime dead zone deﬁned differential equation direct MRAC eigenvalues equilibrium error equation establish Example exponentially decaying exponentially fast feedback ﬁrst follows G Loo given gradient algorithm guarantees Hurwitz polynomial hybrid adaptive implies inequality least-squares linear Lyapunov function Lyapunov-like function minimum phase modeling error modiﬁed MRAC scheme norm normalizing signal obtain output parameter error parameter estimation parametric model plant model plant parameters positive deﬁnite proof of Theorem proper transfer function reference model rich of order robust adaptive laws satisﬁes scalar Section solution stability properties stabilizability stable matrix strictly proper sufficiently rich Swapping Lemma Sylvester matrix term tracking error tracking error e1 unknown parameters unmodeled dynamics wide class