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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Models for Dynamic Systems
Parameter Identifiers and Adaptive Observers
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adaptive control schemes adaptive observer Am(s analysis analyze APPC scheme assumption B-G Lemma bounded disturbance boundedness Chapter choose closed-loop plant closed-loop pole coefficients constant 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 finite follows given Go(s gradient algorithm guarantees Hurwitz polynomial hybrid adaptive implies inequality least-squares linear Lyapunov function Lyapunov-like function minimum phase modeling error MRAC scheme 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 unknown parameters unmodeled dynamics wide class Win(s