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Table Of Contents

1.1 Control System Design Steps
1.2 Adaptive Control
1.2.1 Robust Control
1.2.2 Gain Scheduling
1.2.3 Direct and Indirect Adaptive Control
1.2.4 Model Reference Adaptive Control
1.2.5 Adaptive Pole Placement Control
1.2.6 Design of On-Line Parameter Estimators
1.3 A Brief History
Models for Dynamic Systems
2.1 Introduction
2.2 State-Space Models
2.2.1 General Description
2.2.2 Canonical State-Space Forms
2.3.2 Coprime Polynomials
2.4 Plant Parametric Models
2.4.1 Linear Parametric Models
2.4.2 Bilinear Parametric Models
2.5 Problems
Stability
3.1 Introduction
3.2 Preliminaries
3.2.1 Norms and Lp Spaces
3.2.2 Properties of Functions
3.2.3 Positive Definite Matrices
3.3 Input/Output Stability
3.3.1 Lp Stability
3.3.2 The L2δ Norm and I/O Stability
3.3.3 Small Gain Theorem
3.3.4 Bellman-Gronwall Lemma
3.4 Lyapunov Stability
3.4.1 Definition of Stability
3.4.2 Lyapunov’s Direct Method
3.4.3 Lyapunov-Like Functions
3.4.4 Lyapunov’s Indirect Method
3.4.5 Stability of Linear Systems
3.5 Positive Real Functions and Stability
3.5.2 PR and SPR Transfer Function Matrices
3.6 Stability of LTI Feedback Systems
3.6.1 A General LTI Feedback System
3.6.2 Internal Stability
3.6.3 Sensitivity and Complementary Sensitivity Functions
3.6.4 Internal Model Principle
3.7 Problems
4.1 Introduction
4.2 Simple Examples
4.2.1 Scalar Example: One Unknown Parameter
4.2.2 First-Order Example: Two Unknowns
4.2.3 Vector Case
4.2.4 Remarks
4.3 Adaptive Laws with Normalization
4.3.1 Scalar Example
4.3.2 First-Order Example
4.3.3 General Plant
4.3.4 SPR-Lyapunov Design Approach
4.3.5 Gradient Method
4.3.6 Least-Squares
4.3.7 Effect of Initial Conditions
4.4 Adaptive Laws with Projection
4.4.1 Gradient Algorithms with Projection
4.4.2 Least-Squares with Projection
4.5 Bilinear Parametric Model
4.5.1 Known Sign of ρ∗
4.5.2 Sign of ρ∗ and Lower Bound ρ0 Are Known
4.5.3 Unknown Sign of ρ∗
4.6 Hybrid Adaptive Laws
4.7 Summary of Adaptive Laws
4.8 Parameter Convergence Proofs
4.8.1 Useful Lemmas
4.8.2 Proof of Corollary 4.3.1
4.8.3 Proof of Theorem 4.3.2 (iii)
4.8.4 Proof of Theorem 4.3.3 (iv)
4.8.5 Proof of Theorem 4.3.4 (iv)
4.8.6 Proof of Corollary 4.3.2
4.8.7 Proof of Theorem 4.5.1(iii)
4.8.8 Proof of Theorem 4.6.1 (iii)
4.9 Problems
5.1 Introduction
5.2 Parameter Identifiers
5.2.1 Sufficiently Rich Signals
5.2.2 Parameter Identifiers with Full-State Measurements
5.2.3 Parameter Identifiers with Partial-State Measurements
5.3 Adaptive Observers
5.3.1 The Luenberger Observer
5.3.2 The Adaptive Luenberger Observer
5.3.3 Hybrid Adaptive Luenberger Observer
5.4. ADAPTIVE OBSERVER WITH AUXILIARY INPUT 279
5.4 Adaptive Observer with Auxiliary Input
5.5. ADAPTIVE OBSERVERS FOR NONMINIMAL PLANTMODELS287
5.5 Adaptive Observers for Nonminimal Plant
5.5.1 Adaptive Observer Based on Realization 1
5.5.2 Adaptive Observer Based on Realization 2
5.6 Parameter Convergence Proofs
5.6.1 Useful Lemmas
5.6.2 Proof of Theorem 5.2.1
5.6.3 Proof of Theorem 5.2.2
5.6.4 Proof of Theorem 5.2.3
5.6.5 Proof of Theorem 5.2.5
5.7 Problems
6.1 Introduction
6.2 Simple Direct MRAC Schemes
6.2.1 Scalar Example: Adaptive Regulation
6.2.2 Scalar Example: Adaptive Tracking
6.2.3 Vector Case: Full-State Measurement
6.3 MRC for SISO Plants
6.3.1 Problem Statement
6.3.2 MRC Schemes: Known Plant Parameters
6.4.1 Relative Degree n∗ = 1
6.5. DIRECT MRAC WITH NORMALIZED ADAPTIVE LAWS 373
8.3. INSTABILITY PHENOMENA IN ADAPTIVE SYSTEMS 545
8.4. MODIFICATIONS FOR ROBUSTNESS: SIMPLE EXAMPLES 555
9.8. STABILITY PROOFS OF ROBUST MRAC SCHEMES 745
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Ioannou and Sun-Robust Adaptive Control-1996-Prentice Hall-IsBN 0 13 439100 4

Ioannou and Sun-Robust Adaptive Control-1996-Prentice Hall-IsBN 0 13 439100 4

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