Download Adaptive Control Tutorial (Advances in Design and Control) by Petros Ioannou, Barýp Fidan PDF

By Petros Ioannou, Barýp Fidan

Designed to fulfill the wishes of a large viewers with no sacrificing mathematical intensity and rigor, Adaptive regulate educational provides the layout, research, and alertness of a wide selection of algorithms that may be used to regulate dynamical platforms with unknown parameters. Its tutorial-style presentation of the elemental thoughts and algorithms in adaptive keep an eye on make it appropriate as a textbook.

Adaptive keep watch over educational is designed to serve the desires of 3 detailed teams of readers: engineers and scholars attracted to studying tips on how to layout, simulate, and enforce parameter estimators and adaptive keep watch over schemes with no need to completely comprehend the analytical and technical proofs; graduate scholars who, as well as achieving the aforementioned ambitions, additionally are looking to comprehend the research of straightforward schemes and get an idea of the stairs focused on extra complicated proofs; and complicated scholars and researchers who are looking to examine and comprehend the main points of lengthy and technical proofs with a watch towards pursuing study in adaptive regulate or comparable issues.

The authors in attaining those a number of targets through enriching the ebook with examples demonstrating the layout approaches and uncomplicated research steps and by way of detailing their proofs in either an appendix and electronically on hand supplementary fabric; on-line examples also are to be had. an answer guide for teachers might be acquired through contacting SIAM or the authors.

This ebook may be worthwhile to masters- and Ph.D.-level scholars in addition to electric, mechanical, and aerospace engineers and utilized mathematicians.

Preface; Acknowledgements; checklist of Acronyms; bankruptcy 1: creation; bankruptcy 2: Parametric types; bankruptcy three: Parameter id: non-stop Time; bankruptcy four: Parameter id: Discrete Time; bankruptcy five: Continuous-Time version Reference Adaptive keep watch over; bankruptcy 6: Continuous-Time Adaptive Pole Placement regulate; bankruptcy 7: Adaptive keep an eye on for Discrete-Time platforms;

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Example text

Since 9* is unknown, the difference 9 = 9(t) — 9* is not available for measurement. Therefore, the only signal that we can generate, using available measurements, that reflects the difference between 9(t) and 9* is the error signal which we refer to as the estimation error. m2s > 1 is a normalization signal1 designed to guarantee that ^- is bounded. This property of ms is used to establish the boundedness of the estimated parameters even when 0 is not guaranteed to be bounded. A straightforward choice for ms in this example is m2s = 1 + a 0.

21). 21) in turn implies that 0(t) converges to 8* exponentially fast. As demonstrated above for the two-parameter example, a constant input u = CQ > 0 does not guarantee exponential stability. We answer the above questions in the following section. 4 Persistence of Excitation and Sufficiently Rich Inputs We start with the following definition. 1. The vector 0 e Kn is PE with level OCQ if it satisfies for some (XQ > 0, TQ > 0 and Vt > 0. 32 Chapters. Parameter Identification: Continuous Time Since 07 is always positive semidefinite, the PE condition requires that its integral over any interval of time of length T0 is a positive definite matrix.

The estimate z of z is generated by the estimation model where 9(t) is the estimate of 0* at time t. The estimation error is constructed as where m2s > 1 is the normalizing signal designed to bound 0 from above. The normalizing signal often has the form m2s — 1 + n2s, where ns > 0 is referred to as the static normalizing signal designed to guarantee that ^- is bounded from above. 6. Gradient Algorithms Based on the Linear Model 37 where a is a scalar and P is a matrix selected by the designer. 30) are common to several algorithms that are generated in the following sections.

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