Robust Adaptive Control, Volume 1
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adaptive control adaptive law algorithm analysis applying approach assume assumption bounded calculated Chapter choose chosen closed-loop coefficients completely consider constant continuous control law convergence cost defined Definition derivative described developed differential equation direct elements equal equation equilibrium error establish estimation estimation error Example exists exponentially express finite follows gain given gradient guarantees Hence implies indirect inequality initial input known leads Lemma linear Lyapunov matrix measurement method minimal MRAC scheme norm normalized objective observer obtain on-line output parameter parameter estimation parametric model performance plant plant model poles polynomials positive definite presented problem proof proper properties reference respectively satisfies scalar schemes signal simple solution stability Step sufficiently Table term Theorem tracking transfer function unknown values vector zero