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Astrom, Wittenmark - Adaptive Control

Astrom, Wittenmark - Adaptive Control

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Published by angarcel

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Published by: angarcel on Mar 24, 2011
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10/29/2013

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CONTENTS
1
WHATISADAITIVECONTROL?
11.1
Introduction
1
1.2
LinearFeedback
3
1.3EffectsofProcessVariations
9
1.4
AdaptiveSchemes
19
1.5
TheAdaptiveControlProblem
24
1.6
Applications271.7
Conclusions
33
Problems
34
References
38
2
REAL-TIME
PARAMETER
ESTIMATION
41
2.1Introduction41
2.2LeastSquaresand
Regression
Models422.3EstimatingParameters
inDynamicalSystems56
2.4ExperimentalConditions632.5SimulationofRecursiveEstimation71
2.6PriorInformation78
2.7
Conclusions82
Problems82
References87
3DETERMINISTICSELF-TIJNINGREGULATORS90
3.1Introduction90
3.2PolePlacementDesign923.3IndirectSelf-tuningRegulators102
1(iii
 
xiv
Contents
3.4Continuous-TimeSelf-tuners109
3.5DirectSelf-tuningRegulators112
3.6DisturbanceswithKnown
Characteristics
121
3.7Conclusions128
Problems129References1354STOCHASTICANDPREDICTIVESELF-TUNING
REGULATORS
137
4.1
Introduction
137
4.2DesignofMinimum-VarianceandMoving-AverageControllers137
4.3StochasticSelf-tuning
Regulators
146
4.4
Unificationof
Direct
Self-tuningRegulators
156
4.5LinearQuadraticSTR164
4.6
AdaptivePredictiveControl
1684.7Conclusions178
Problems
179
References181
5
MODEL-REFERENCE
ADAPTIVESYSTEMS
185
5.1Introduction185
5.2TheMITRule186
5.3DeterminationoftheAdaptationGain194
5.1
LyapunovTheory1995.5DesignofMRAS
UsingLyapunov
Theory2065.6
Bounded-Input,Bounded-OutputStability
215
5.7ApplicationstoAdaptiveControl230
5.8
OutputFeedback
235
5.9RelationsbetweenMRASandSTR2435.10NonlinearSystemR2455.11Conclusions255
Problems256
References
260
6PROPERTIESOFADAPT1VESYSTEMS263
6.1
Introduction
263
6.2
NonlinearDynamics
265
6.3AdaptationofaFeedforwardGain
274
6.4AnalysisofIndirectDiscrete-TimeSelf-tuners280
6.5Stabilityof
DirectDiscrete-TimeAlgorithms2936.6Averaging2996.7ApplicationofAveragingTechniques3066.8Averagingin
Stochastic
Systems
319
 
6.9RobustAdaptiveControllers3276.10Conclusions338Problems338
References343
7STOCHASTICADAPTIVECO_t\.j'TROL348
7.1Introduction348
7.2MultistepDecisionProblems350
7.3TheStochasticAdaptiveProblem352
7.4DualControl354
7.5
Suboptimal
Strategies362
7.6
Examples
365
7.7
Conclusions
370
Problems371References
372
8AUTO-TUNTNG375
8.1
Introduction
375
8.2
PIDControl
376
8.3
Auto-tuningTechniques377
8.4
Transient
ResponseMethods
3788.5
MethodsBasedonRelayFeedback
380
8.6
RelayOscillations
385
8.7
Conclusions388Problems
388
References
389
9GAINSCHEDULING
390
9.1
In
troduction
390
9.2ThePrinciple391
9.3DesignofGain-SchedulingControllers3929.4NonlinearTransformations3989.5ApplicationsofGainScheduling4029.6Conclusions416Problems416References417
10
ROBUSTANDSELF-OSCILLATINGSYSTEMS41910.1
Why
NotAdaptiveControl?
419
10.2RobustHigh-GainFeedbackControl41910.3Self-oscillatingAdaptiveSystems426
Contents
xv

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