Adaptive and Leaming Systems for Signal Processing, ‘Communications, and Contol ator Simon Haykin Worbos. 1 _ THE ROOTS OF BACKPROPAGATION: FROM ORDERED DDERWATVES TO NEURAL NETWORKS AND POLTICAL FORECASTING Kite, Kanalloopoules, ond Kokotovlé | NONLINEAR AND AADAPIIVE CONTROL DESIGN. Nnios ond Shao SIGNAL PROCESSING WMH ALPHA STABLE DSTRIBUTONS AND APPLICATIONS NONLINEAR AND ADAPTIVE CONTROL DESIGN Mirosta Krstié Ioannis Kanellakopoulos Petar Kokotovié ® AA WILEYINTERSCIENCE PUBLICATION JOHN WILEY & SONS, INC. NewYork Chichester / srebone } Yoonto / Sngopore‘niga Na sens in Ca mnesenentgeattte wa ‘Sh Cir At oint era of epi a agen pot ie rl tr Preface ‘Tis book ops a view ta the lary wneplred landscape of miner Now design taolsand sytem design pens are deepen se tint the deg Keb ste ll ens der proper ah Cl aly, ba i lly or nm peed regan ote at ar ackstepping, Come withoter hooks on noon ont the aor ove o this book becuse des wetheogy aestpping With this todo the censtzeton of bot ack eto hes ste Lyapmaorfaetons in pte. Stony ropetie of hal wrens Hata acing ae bul ft Ue oainee sats ia ae ot, wie la never higher ran the stem oe.” While for Iereatn ede rquiepoie del tad te cst sone oral nies Iacksrping desig fr lve of design tk for econo a ‘vin neler and can sco tel enpsliatie ‘cimees of syrtems, By the very mite of the ning noe, alee inode ee are tretred thn te ince elsring Many noes Ince by psd las (og, eel ace od nil Kneis) exe not been oes, cn, ith Inrange, te ‘owt is plynont ov even exponential Shen wih ech reales fe pre to spline iste hic sat he ntpted el prev 1p fea cnt Nonlinear well appear ena itk psc comnts, oft poly navn or depot ose chnaging ment, Thc, porate. I "pantie pfrdck sts tied in his ok te [root of ronnie metie, wile the wokown parece sper Analy, Wen ooly mau Is coated, the wie ar seu Ieetuatons ofthe output, The ener chef esas bod med rwcrpasis Hee psn a4 men] Adaptive control, The costo of whos sptes witha pa ‘ere rita prea aa ndopive coal probs. rprat oe "he est of wonlner oo thors Here we ig ths get aap“ Pussies ontcl be what ta porign for constructing nonlnar dypamie fee trek fr oth noone ad Tr aytems. We depart fn he edna “eran euler” approach se design strongre nonboes outa as ‘hos achive the geared shjstves ether by sleracing wth porancr up that lows ot by stein he eft of peamete stint ers. Ln this tray ack wot only stoner tabi properties, Dut ls quale oven of eth pono. Applications. Stzng ron or global properties aches! by the design ‘netbals preted in tls book have ce potato! co expand che operating ge of ren ontoles ed rake han appa opel psf ‘rit ear ate al captrates ae nadeunte: Tn ths et penton ‘Seale he yp ini tote saspesns ot engine al surge ‘Sli, boekmtal proce, aera wing Tock conte, dation mors, tobote nanipalatrs, and magnetic levitation Organization of the book. Alongh mast of the resin this book teow, they ae peel a lela oars ith standard Uteradgate bacon in eotaltheoy aod » base owt of stabilty encopte Each chapter i wie a peo syle, with Bete! prot fd itztine example, More bolt extensions aad geeralatons are tiny ealined. aie tok or mngdaptve baktppingsg with sate teiac ae gven i Chapter , 08 th cnt ob ln Contr 7, while ‘aptive Delsey trodes Chapter 3. Chapter 1, 2, aed are Crate ge hon ex fora part of eer a eae on near eyes oF Con alpive control. The caning captors, alse more advanced ae exible without Chapters 2,3, and? The cone ofthe eon dein ihe tuning function tha in Chaplee and §. The sual designs ‘Chapt 6 and 8 ale the epee ofthe comer and the Soni he we pte tle Ss ae spi o Basar ate i {Chnper £0 ad are shown os tof he ronal near desig THis ‘Gaerne ea ndependelly fou the rest the book, Tho depen here's teeth boolean o ed ip evra a Capers Nonlinsr stabilization withon aptatisn Intration to apie bactseeppig Adaptive Lyn desig wit ning etions Estinatig- baal desig with medulity Sats fendhac aaptive designs ‘Adaptive contal a near sens Presnce ww “This book jolt ef used om recent remach ts thoes. Chap- ters 66,89, a0 10 al Appenions AVF wee itn iy the fet suo, find Chapt 2,3 an tl Ape were writen by the cond ator ‘The Jahr wis arduous do to fequen sess by the tind autho, their former Ph.D. advo, who aio wrote Caper Acknowloginents, A& the ital age ofthis roar, Ricardo Moving Sntrduced a nonlinear geometric methods aed called with nd David ‘Tare on the ealyaapive antes conan ey ex ted tein en soporte fine freer with Hestg Sad [A Sabet Id to 4 noondoptve rss desig. About ye te, Join ert vith Steve Mone, we deve the Rist adaptive ori de Procedit, bic we named ative baclstepping We expr ca de ‘pte to ese clleagnes” We ae ao nk) fo Ray Fron Pete Toannom, Laarat Pay, and Andy Tel onto exchange ad scson of exert reals Amon any ter elleagues wl bled us ‘ith rien debater on od sae of tines pte etl ae Brian Anderson, Kas str, Tae Bast, Gi Dhani, il Bothy, Molunnned Dales, Rens Ghanadn, Gran Goodwin, Jeay Grzde Ab Ins fst Mrdjan Janka Basson Kha, Ar Keeper, Pe Kuma oan and, David Mayu, He Mieon, Cal Nett, Shankar Sastry, odslpie Supe, Eduard Sontag, Mark Spo, Jug Sun and Gang Tao. And above all ou wares thnks 9 tothe mst generous ctubutors to his rat, fur wives Abgea, Goorin, and Aa ‘The writing of this book tne supported in part by he Natal Sioce owdcon unter Graute ECS-099%01 and RIA ECS-DS0002, by the Ar Fore Offs of Scent Rest dat GraatF-19520-021-0405, ty UCLA throng the SEAS Dean's Fu, and ls grt rom Far Mota Compasy nd Revel Iteration imostay Kase Toasts Kawettanorovtos Peran Kovorovte inte Barbara, CaljorniaContents 1 Introduction 11.9 Adptive contol as dynaoriewouliteay fe HL Lyapinebased dein 113 Elation dso 12 Alapuive Nonna Contd 3 Eauly resus 1. Preview ofthe Bin Topics 13:2 Alapive ackstepping and ting fone 133 Meola dese LEA Output dsigne I. State Foodback 2 Design Tools for Stabilzation EN ELE Ma stably doce 21.2 Conta Leapone frsions 22 Delstpping D221 esitce buen24 Stailatio o send tame 225 Blok besteppng with nro dame 26 Example cite spss (te 23. Revue Doug Produ 251" Stictlondbark syste £813 Pusetetiac sete 233 Blackatrietellh systems 24 Design Feil: let Engine Example 2:41 det cine stl a surge 242 Alwmstep design 243. Avoulingcapceltions 25 Stabicaton with Unertity 1 Sealine damp 252 aclateping wth unstloty 253 Robt sect feodback etek Notes nd Rrecen Adaptive Buckstopping Design 1" Adoption ns Dyan Fratback 52 Adailve Borstepping 321" Adapsiveimogzatr teeing 422 Adapsive lek baksepping 88 Recursive Design Proceduce 81 Parametric set fede sts 242 Autsinpatsstens 433 Pome bodes asc yn 4 Extended Nateing Design SA" Tedocng the ovrpatasyteton 242 Emplet ocheatal prose 243i redrmabce yore Noes ad Roeensee ‘Tuning Functions Design 21" Adaptive Contol Tapio Fantom LLL. Depart fon cerany mabe LE Cartalty oulalnes fora maid yea {LAB Adaptive hacatepping vi ach 12 SoPoiat Regulation 421 Desig proce 422 Stay and camergence 425 Pasieity 43 Teking 1S. Desig proto 482 ‘Tajetery italization gegener avanae ane comrenrs 44 Traine Peformance SL performance 42 E perormance 11 nkown viral contro oie 182 Bladestikt-teack systems 183 Purelealack systems 46. Benge: Aiea Wing Ro Notes nd ference 5 Modular Design with Passive Kdentifers 51 Werkons of Cersinty Bybee 52 ISSemtl Lyapanoy Fats 53 ISeContitlr Da 54 Observes Stet Pssvity 55 Pave Steme 35 2 Phaive Scene 57 Troniet Peformance 58. SCiScheme (Wen Modalesiy) 581 Contlie design 582. Sehemnwih strengthened Hentor 59. Unknown Viton Control Coline S01 Contrlle digs 592. Passive adapive scheme Note and Refersnres 6 Modular Design with Swapping Identifiers GU" ISSConteler (62. Sipping and State Parantec Models 63. Stopping Score 61 Swapping Scheme 5 Thansent Performance 651 Shnulation exanpes 65 SCSteme [ST Schemes with Weak ISS-Coatcle 8. Unkiowy Vint Cental Costes Notes ad Reon TL Output Feedback 7 Output-Foedback Design Toots TA OlseeerBacteping, Zi) Vomemnoed ste 19 1s Ds mo a824.2 Ont otack systems MIMO Dei: lvnction Metor TA Adaptive Oleever Backstoping F22 Aw hteodactonyexnpe 72 Pavan omtpatedback psteme 733 Bromple ing lnk este robot PALL Titers contol dei TAB _Diign wit puta tak Notes unt Referees 5 Tuning Functions Designs 81 Design with Fiore S11 Firs ad oberer S12 Agee cotter dsgn S13 Stablity S14 Thame! performance 82 Design wth NI-P | 821 Ftesed taaeerations S22 Adapeive contol desi 823 Sealy $24 Tram pevzemance S85 Esau Levitate Bul ‘Noes Reon 9 Modular Designs 1 S8-Contoler Desi 82 pPaarive Schone 83, pSuwoping Shere 8:42 Swapping Seine 1 Schemes with Parametee 6 Transient Pesormance DGL_Pasive scheme 02 Swapping vem Srapring Sener with Wek 15-Conteller Shes with AUT-Pters 81 ISSahserver DR? [SScontoler 82 Pamir ache BSA eSuaping when SS. ‘Tiaiut porfornanee Notes and Referers Model 2 = a 2 x "st consists 10 Linear Systems 101 Slate Eaination Piers 10.2 Tag Factions Des 12.1 Design procure 1122 Stabiey mali 102.8 Pesivity 102.1 Desig example 10. Properties a the Neudaptve Sytem, 103.2 Unde linen conte 108.2 Parner robetons ne nonaptive perforce 14 Train Peormance wth Ting Bonen ILL Transient perfor of te ape tem 10.12 Peele amprovrat duet ndapation 115 Conasion wth a Taitona Shane 1051 Choice of a toulionnl chem 105.9 Compara ofthe where 106 Madar Desa 10641 SC-comtler 1052 jpPasive schon 106.3 Swapping eae 106-4 Compation: onl ening fotos sen 107 Semmary| Notes ad Releenoe Appendices A Lyapnoy Stability and Convergoneo B Input-Output Stabitity © Inputto-State Stability D Passivity E Parameter Projection Nonlinear Swapping G Different Geometric Conditions Gi Pana tate Poise Forms G2 Ouep-Fothack Foon G3 FulrStte Feedback Fors Dibliography Index 487 489 sor 2 Pa a 0NONLINEAR AND ADAPTIVE CONTROL DESIGNChapter 1 Introduction 1.1 Adaptive Linear Control 1.1.1 Emergence of adaptive controt Atempts to invent, sg, a ld systems cape of atslng nk ats o adapting to wopreletable change the corinne ve eg fun id ster. This star eo jsiably go toc Io air etn ‘fle, beatae evel te clmentey i: so tlernto Squat aacereaiten Major alances of contol tory in the 1950 ae 190 enrages the hig shat snore map or of edb syste. May a ‘ang coneopte mere peopel wih she vin of ffback woe en ‘evoke lvoe the previ eoch as "earning "sloping ‘lforganicing” a leony” or "wlaptve” control. Moe pete po owns nee rativason or aster eins he Fee tel lng On the teortel ano theme we stot al onitol Unie the iene ofthe ae intelligence conan. tay fe sonepes were born “Tra.” "newal and, more ce, “aeigon™ Sento. Mot of chess concep have wend one ell hexane tow have since duped om or tents vox. Adaptive contol sone ofthe Kas conceive Inthe 1980's whic bas eay| soma nthe uate of ecarch tivity ith hd of pes ‘evel boos publ every yes. use aaa fry yas of eaten sapien wor has en stn rent 9 wel raed mit ‘eline: fom inventions to rigorons problem ferlatinos, fon soins of hase prlems to tore seman ks or bros las of aes from questions of existence and scbilty to apleation-reted esbes of robes nd performs. ‘Or of the sous fr the tpld growth ad continuing popsiy of dep ‘ivecotal it dearly dfs gal ta conte pant wth akan peacles, Adaptive contol as been st ssl for plat des in whic he kor pcste qr ari Fortuna sah “new sane a iow sa he ace ast station of pct! ate, 1.1.2 Achievements of adaptive linear control White his ook we wil be precept with pnliaar ysens, st th ge tthe con lines plats wth www pairs 8 | dae roblem whi 0k set ten years to sole. The aayise ‘Stet couannty deserves al ref pong one, bt sever ‘Slash nen pon fy 2, 100, 138, 338, 12,16, Each ‘tite satis wes aeons development of adaptive conto By he nly 1080 several types of pee edocs ce prone to provide ait operation goss trkng. We lo the vols ean tha Frnt ted cr cmt! or tradonalonapive cto. Teta Minot seticnes ate lil tr” abd "et and os “Lapua ants cesination nae” Tho ioe paca seatiction with arnt etinter” easier Tbe ial pr tthe ei the eter saponin, cmon lero tots Uae paranete wp ‘ita neh dect-ndinc hastings eflets theft thatthe yp fmninters are elter we ofthe conta (det) or cose of the plane Tint) According fo this chesicaton, all Te schemes inthis ook ate tie. "Tedisco bréwces Lyapunor-baw il imation bse ses ioe stati tet prt he tye of partneter pst vad cr rrreponig pot a ssi and convergence. Lyspanov-best ‘ing isonet Ihe oetrnlsof apse con Un eet, howe eaplieity wos rect hivr plant with clave ere 0 or "Thc hating hs bon remedy he eure design rors presets itis bo, commonly eters wo 8 oeteppa Entiat bse sgn ae re bri applic and alow choir ot prance ua laws ose rept acts asates ‘Shelton lors Thi ent ir chewed y teting he Genter see tate mle and gone ropes iden ofthe com ler male" etnntion fas signe eset this book achieve Complete moduli. Fortis eon they ae ells modeler des. a peat eat of tans piv con sits elie oe ait eqadenes” conte: Te ene tt eotedle fst deed ‘Sei the lant poate werokaown The controler parameters te det nin fancies ple praeters. Gen he ce wales of he pat tustg, the eonrller protease by solving desis sae {ions for mole natching ler phe, or optimality. When the te nn cms veka the conte parameters ae itr etna LA ADureve sean Covrnot a ity (tet ame) a compte by sing the sae dein eaatns with pat pratt iit sens). The rsing some, ‘nite nay tet dag rt ete Pa oe), ite eorany opens von Te ota ae tater paket wl wok in adap tec apache sabrina co Eo asthe la tae, bal Pree ent yw ea ‘Savols. Th tant nore ee rhe the af untae the theese sunt cteve staan nai ota isthe gan atta elec conta bebo prone {oho satcrtey fr tv ce ef nee stn Tew nip ase he derby of aap cnel bees to net tony a: ot bcs tee sate cng Akan Enh adi stn eso ft goer be eof ous Ary en eon fen, so es a wn a the pte gue’ portronacs, apc tinct paramos, Se Peds on thes design cies, Casa! reese nln irae t oi Tied ihrer des nl deat btw tent prooue ‘nc rouaem Tro pone loprovane e ft puiaens is oh oo 1.1.8 Adaptive control as dynamic nonlinear feodbacle 1 liner plant contains unkown pranétets without any information nut tne bow, Hen, im gree, aunt be salle Uy ant conor "Te ote re ipl sea an nee i te contol and @ unkown conta Ia poh Bound Bion were knw, Hl 9 then = ~2Br would be ata sabi Contre Ish about sat aca, wo Ine contol ca be designed to gurantee sai 1.1). “To examine whether» state nalinear cata ca hp, lt ws the censeller We hee ro sere fy > > 0, The remind pte i f= Oo hye? a) For 0 > by, ho eli 2 = 0 wnstable, but the none teas o> prevent) fran qsring unbound Teast etal 9) leone te a ofthe two yew ein 3y/4EX, Ths, te static onnene cnt(1.2) fs aeiowel bosadednes of ff wthou ay Rood fod oe (One gals re snbitious than ust Hours of 24). We a want vo ache ite eegalton Tima ger?) = 0. Cu this be secon I Arsanienoninasr conto? The aaswe is artive: Ove sty omar Hwrae, fe, os the > Oba design prantey, The resin adack sytem so wand Hite tee se) 2 tus) tatty proper cn be eh yes ne deiatve af the Ly ‘rr ton vine = bee he-oF a9 ‘hich tm 04 be nonpoiive Ve pet gett (GO) = pet au) 1 fuyeion fe. Tepes at) ant) ea ed for ll ‘The prot tat iw Ft) = els wchieed ean ve sing. Tt ‘the nest cnpten Hon wa the dine nonlinear conto (4) concive? Nota to ae onl, bot ether ten paetter adapaton scenes deni part f=? yn Gt pate efor € a ete off, Comme, "he enaton ror € i enied i the Lymnaea (8 e(0 (0) cette along the elton of (1.5) noslcensing 0 2 14 Lyepnnor-basee desta "The cnt (14 ah ont of systema Lapin design eos, IW this proce we Hele paracerUpne for shectnate ), aed as) ‘ec ong wi 2 contol aw ¥ =f), wl minke the Lyapunoe faction 0-08 9) Vind) = Led onsen faeton of Fine MUtndiey © Veet hAiall, Cte V2, (LIM) gure 1. Lrspaon-bse wl fr te sea stn = 4 ‘To dhisend, we ese function foal ad ck) aa red) to amnatce that Y= pr with p> waaay e480) HOM = pe cen earning tens we gat radi af “wt oa 4) Since miter 0) oe rf allow depend tho unkown 8 we tet tbe a8) 2 bea. (9) ‘ee rnsining comin mbit

is the “adaptation gin.” ‘Mote commonly tel are “twine” veson of (121). One of thes it be ye «ay ‘Once nia be sed ina etait eqavaleare cont law. or expe the same ozo lao (2:15) wold Ls ro te spsietion thatthe dove top pole e plod tp. Ts ack wold eed be air ie eninate # were conc, "Te nl nop adaptive stn wit he none ypdate law (121) 6 sbownon Pigice 12, The dame cero the adaptive coneroer she de teeter mee which contain is-eder ters and test ond todienivpe nate i The stbty nabs of etination acd lative ‘hemes ir fatioce. For gadieataype seems, this anus coneive fons the case of orbalaed up ays. Ove of its Key sls etainhes the honidedven peopete of the Keifer module withont ny rete: fon t() a hence on oF). This mea ta the enter inode can be connected aot only wi the poe plcement outa used i this exam, intake will wie vary af other ont, 1.2. Adaptive Nonlinear Control 1.2.1 A nonlinear challenge ‘Tolneoduce be topic of ths book, let us apply the estinaton se prone to ue adaptive cool prodln fe te otter plant b= wot (123) We firs set ceriiny qualence conto a pet cay) stich id wg exact, m6, wl eel in the ls op yt ‘sn the preceding ear example “The constuction of an ene is analgonst (2.18)-120). Theres lag estimation ertoregtation the sn, exep fe), hich now ee lee version of (0 etn ne he am ‘We proceed with the wees update law (122) abd, upon the sb aad c= Bey we abt (29)“Ti ection Is nse Hcy shows th the paneer eco He) snot convene to es! fst thon exponcataly. Le us conse the fy = 740, aay “This tae wld ave bee slsvtoy forthe rest quiaonee ent {ig}otte teu plant) this wth econ 1.24} of te unter [ln {123} Th paling onion oslo systems de wei? (2s) sere, for spits 1, The station a (1.27) with y= 1 nto 1.28) Pee he canton Be arte) (0) howe explo sltion 200) oe EATON aa (030) Ins ene tse tnt 0} <2 th (wa converge to er a8 — et I (00) > 2 then a che me 0} an Mao) ‘he dierenc ofthe wo sponta tera ne Upon Ye Zero "a Iota a8 tae fas, “The adaptive cls system wt oly tab, but wae tha Its sto] expe i ie te ge Th eseape ne ees ote the difeence 0}(0)~ 2 rows at 8th til eomitions| Tone ge “This single eeample seatydemonstzates why’ tational estimation asl en oi loo yen rn ae ve ‘renal in ring ett) wis lh ceri oleae Srl won be ale to preset entstonbi oma of istry. We aed ‘Sor atomae ones hi lb abl hie tbiation with ta ‘Gi ees fer tes, of combina of Dt. Layne ‘Seigns Chapers 3d {provide ster dws wiles mal desis In clnptys & sd 6 we sour sean contol 1.2.2 A structural obstacle fe catinaton eel approach file cae the sone of wormaize ‘timation wil Lyapunon- ase design be more ces Let sa wit "he sae yep tetton (19) a fo ar pla (1). dente For the mute plat (28) i P= stu t02)4(i-0) ass) "The rogue —p apo the Gling condition on the ce of dae for Bd contol aw oe rastisa(e-i) ¢ -n2 aan ‘Toctninae the wal, ee upd lw mt be vt (135) ‘ha (134 ees to sted =H ret ‘A conta law which sti this comin ix the certainty eee ae teller " = pene sn ‘Siac th uate aw (1:35) andthe contol tw (1.37) yd = pt, we lowe ta me tblisypopestin oe ate eglion a the pve ot th ne laa (1) Compaing tht rel wth the tition Tal dia tv tthe cut ms (2) ad (1.57) ge he ae, ile the spun pate aw (0.35) ek faster Una He world en update bw (120) Is wou ape that = Lyapsoor spproic te adaptive woes ctl temoreaomting than Ue entiation nce aponch Hoeven telnet trove Lynpow-bae devin hae bos etter to plate wth exer ‘sons flav degre one od Tate nonlines sated ae, 5, the mmber of inepates beeen the contol pat std to anknown petmeter.In the plas (123) he eal uncer so. The wcortalaty {tbe contol ae “matched” Dect they appear i the sue etn. Id the pane phate asp0 xroovenox rene which pons he contol aw. eae Fo the seem th messi He) cere stright hn beset nn he pe iy = nt} haw (039) theo lng 0, eens seme the contol nr won veto nce i whieh nt vl Docksterping designs dowel in Chapter 2, 3 cod tose this retua oesase sh al Ce Lyapuaiinsed denis ine apptod to wie clans of weet ones avons 1.2.5 Early results a teat hey flr tec carl i Dak ehh sel se oo by any eee isis rr the eon eek vrata” tha he ‘and edbassmaster Sata ls anc spams a y is Hes ae es ene, bone et tat lg hh an aang he ona enmity tomingy On ie ne SERN chante in oa of wore primers Ths mete he Se fee lis en ec Tey er a ei snc ue the mach oii Exapl ek ss sierra nano, Wie tf we wa ee SPREE rental mewn ooo sro, Imrsta ates essen scl aL 0, Mio Senha Ose and Song 8 tan ee A oe gt rela ape ns eto a he ting cn oe ‘ety nnbe Ka ro snd Roe (1 can St cms wil lite he ting oon ile roion wend oe ede mating onion sa ean tg ad Capon a De SSPE ean ech in nah fo eos Sree tpamrinecldndge, Tie idee romnber tid eNom Arnot oS od the hfe! en inet gan et fe ae eanc tal Tens ota ota, thor ec aoe a cael yen otc Sr 1.3. Pew of te Mats Tories ” eset on syste aolicaes were imposed by Kanone, fovi and Midleton (68d Teel, Kaa, Kokosov al Sst The oly oun estates nots whieh went yond He iy south constants en baie by Peet ad Pry (152,153 Io eo Wot Tapunor fuetons to cataeerigetelaonshpe between aoaicar art comtraints al Ousoler sang proper. Inthe sien of ste, tos, sees il avd one grt etritions hat were Me te handle the benebark thisoer example (2-20) ‘The satolthear af adaptive ent, naling lative sono com te a evel e198) Grae leurs (86 One af ese tres Preseiad the eit of Kaneko, Wear and Moos (8,87) which Elly bok the ext ateing bv. This sachet ee ‘sie design ore clad adoinelrckteping._Adapive hake ‘evloped ty onan Raoelkoponos ain callaboratan with Pear Wore tovitand Seovy Mors coer secon the adaptive stint fe se ton th other se ona cntol Mes express nwo ‘Tet (189, Bree ot tet (2) Sontng na Senn 17), Woks tows ant Susann [nd Sabri, Kekona Steen [16, Ada ive bcksteping was ls strong woe by the prpeetis ofa aly ‘Aaptve cane by oer nd Mowe wih, laugh desig fea ‘ste, peered bel tay made tp eva fa eam of opt enlietike, ax shown by Kanelsopnle, Kaketorié nl Mare [0 ‘Adspue laclatepping ince further declopments a wplve woe ‘oneal. Mavino snd Towel [12, 123, 12 comand i ite Hi ere trations [120,221] to solve the pve ont-ietack pealen fo 2 clam of onary that has nt sts Bon enlarged dave hacks ‘Sorin len tina lls to rts is overprmnetiation A partial Feetion we acleved bing and Pry. With the eon aning Jrnctins, icy Rist [0] ow den wh omg 1.3 Preview of the Main Topics 1.3.1 Classes of nom “Tho min tpi of is hooks the design of edack conto for noice ‘ten wth aes costa paraaeters. The most impxtantdesig Heaton nto aos nye ring of ka vefrenretraectory th to stonget pose for of seals Avot ny equ eta the designe conten should prose fective mens ors he rset Prelonsace nd ths low diferent pelonnanerrobestan dea, The ange elses of wer nas wich ated eg peben Is slat with ether state ne ontattedback conte re wt sar systems@ Ieronvero ‘tea se. The anges lass for which Sletngs ve ben ot. {tho oma i hk ‘State fuori soltons goo given for tho scaled eis of parame dansfeeia systems” ‘Thy ae is pest for the sues of ‘nese siti” fe whch the acer tbl and sein drop ave gl By nlp wih ear system art edb te {lth elt elena Oni eck alton ae ett to are sf inn >inse tess whi the nna dopedt ony teen varia "The cho yc stems wil ake pants wel ep sce by te hed onder sey hm meets be = neem ca) fy = we gTlai ri ere the 7 ¥ veo @ const aa unkown. (8 The en ry. be lipid hy nt Ente peers avid tht th sign ofthe pagetes are now.) Apa fn ther ewe tthe dependence of hr right td ie of 10} ies, 2. tobe prc, ie, pure eback pte ee crater the sre Fane o te owe sonata yo, andy The Tae ta depen yn free pl agin rst Is nosed on te Aepenlee of yop. al fan ty. Thi retin i onal std Ip does tt pr ah 2 wl pdr wot dept thi, ite have gues) and sates). In hs Set feline coe the eae 1.8.2 Adaptive backstepping and tuning functions ‘Wien the paraeter serie #6 kom the pursfehse resttog ee thy ams oar rnin Hlowrner, even ben ahve the ful ofall Zion i nok psd jy tir Hoy tease ton fens a comeltion of fl nonce. Bcttepping desig ae wore exible and do uot ce tr deine ste to appear eae. They et consists of wel yoniarrtiw nd often gre mst] oan tes to igrave tense pra "Theo lackstoping x des coil fx (210) eerie onsen oe of he sate arable “Weta cont tel desing ‘hem interes cot awe la (2.10) the Biren outro rT ‘wl salar the Ht eprint a mepaznte stn, Stace 0 waka, ‘hin ton ated wily adap contre Gnlting ofthe eel la au(ey) aud the update Ine 8 = (2), a8 the Lagan base din ia 1 PREVIEW OF sHU Mare Torte 8 Seto 1.22, Inthe west sep ce ste te vr canta” which edt taba the mbeysem coming of he Bn ts uno (110 Thsiesain an apve onl ok, ano eat ant eet omer am mate nw 8 = (3) le les ben age nthe ft sep sl is rt wet ty ore fat. Cag td roi ro ecu eso hs Gordan kat adap brady vn tang tions ™ Mopivebulsepping tess he parameter # che eon extn (0) as now pantera sig fot ew eines that ae Tow. Asi Toh, hete ae seve estates for the sage pee Te seorenctriation uid In Cnet 1 By conse ha ht et ‘tp 6= (5) tan update law bt any a fiction #2). This “ing Tuco” soli sos rrp and the snspaney d= rt0y) is compensa wih aditona trys inthe conte. Worse the coed “sitive wou appetite analy expo fo the et Ueeetve of ste) Both sprivebaksteping a soning Fnctons shire the gas ote Dization ant sacking, The proof of te ropes i diet commen ‘o¢ te rewtsce proce dering wich Lyapunonltacioneomstetel forthe eta ssn, ineladig he praeter ets, For steele ‘ystems th Lympunoy fasetion pote pot of eal unr icine ud, 30) rquzed to fallow a tapers tess te ete gs tote tacking 240) 0. For prefab sym th slate ot salt he sn Epa en Il mee eon fara win the foe et, ‘The ing ean ayproee ihn aa adaptive lek ring. nce ndvanag ta he ean ene a eagles ‘inna. Tio dion ofthe thi ie see aot eas Con ko nina Dat dap tnteping ang actin ave soe the “e sled tig ec hb thet pana en. Ty hve ake hi eng onl" lana "song thn crn ole eal “The departure fon etait ence designs i elon the adaptive contol Lyeounow Innetion" fal) in Chapter Ths fuse, ¥is6) fa ronrl Exper foaetion (cf) nthe sense of Arsen Eso Seat (7), bt for nadie ters fn whi he tern al th “akoumt paanser .& eataaty sql tuts his ae ‘at wed fe aaptioe eoutrol ofthe rk opto, ened wy feums which counteract the effects of praneter enn tonslons om iin tenn.1.3.3 Modular designs Adaptive bckstcpniag and (ating funtion proved ane Lapa deaeie these wearive pes lave rove the ctl ese doce fhevetenel matching} esteeson of the editions Lyapunov desi 2d (hove te spl pote the strongest salty propesics Alo wth Feat te fave evan drawbacks Oucof than Pat the da erties uf le of porter wpe as, Ror pte with ny ‘ihuen porters after deseo dapsvebnelseppin is ha he ARN daar of ts oreepuranesast cooler fs hig On th ber Ya Teen a he tning etims otto twin ba for higkoner Sessa aout expressions hove tnreasnaty comps, ‘The wai sees Sonn tke uit stead beeen he wir ad se ‘otal aw hab of hse dcerborks re removed iy xl designs bn Chop and whic tpi sition tintin sig, kn iptv ior cael toni bel done hee aie evel f malay eter ee ar Any stalling courier a be combined wi ee Parmcte update bef ite rac o estas pasts catctee mde cable of tblzing tbe pl. when le Pe reste me TUsies ettiy eure propery, The enter a ec aranee cain wots properties ileprcety of sess mate, The nasty ofthe etnies mals eee nto vale tha the Lyspance-bed desis Chapters 9 resent the deepens of = new na syne 1 ane sitar contro. Thy As stow that» major obstc to ete digg to oan yee wa are ec contol. Sor elles rot ace rie’ sept wit every ett he ten now isan : : fe pe wilson pret obintnem propertion I acies (le sou apa Fararnore, the new ell, cll! the soon euts bunts nt ony th rao on ‘Sin rst oth eae of even ynte ae i upmette stably (55) properties the BS-ontoer aaa seear termina eg in ton othe onc win peo oma aso cled te SC, wi 2 sets SC) ppt mons toh se adaptive lin como Til sonteraoces sone othe ania smplesky of she BS ‘Sota Hs psosanie nt ih “The alte somes in Cape 6 ply two “sherri” pie sdcriponetih ta netied ear alien npn 1.3. Paswew oF He Ma Tomes % "The Set sentir barton the opeoon plan model, while the sce ‘Magtine tome designed in Chapter @ achieve cotihte malty "They enn empl iene with ony tana oie! OFKast-pzes up {ate ne This enone by estending te weleaown Hae sping tech ta voir systems. This tech converts dani paraste ‘ol tate fon awh the snd wt ln are appeal 1.8.4 Output-feedback designs In Par. Lf te bok sine tt be fl sae fhe syste is rae teint Pa ties ta of pei wi ony he Diop ce Te ety ier ht sand the Inge se edi ett relink esl a snc tony te ert for stems to 2 theca eae papa comb attetiny cons hh ste cs (cere Here, te pune eds tt Bld {er nonlin syne whet ven on expels ding sateen Chor na df ity and ee te ee ne “Tho resi Pal ste the apie cnt ben forse of renters fone faach for ae ta ce lich are ghbeby bln by utp flock. Che in ofo-edack cneolers in Caper 7p ton ste ig y fos a he Her sts een tat Cinyter 7 ttn na ab el nly afer pes 2 and Afr le teurey hae, to rope ape desi se dered onthe cn offal the lng ons nner an the wir dca a Cpr 3 Tie dg cyte [errr nee frauen heresy ee ad ite! Gr nny epee |B 8 A,” cee Chapters 8 and 9 abo pen new deg wih A/T er ines fy Nan and To 2, 2 “The cpa war deaigos in Char 9 res io separation of tae daign males the onl ow the Hee, oe Sa ett Dac hacer ith pv Hees audi eappng et ae sti al whi ei en ont eau 1.3.5 Linear systems For lar systen it mown potters te ated pie ‘ont problem ws slo she 1970's ESD wh several ween apse scenes. A quion lnerent hereto ny ofthe Wain7 Irsronveres scheme omg fas ch onto cess in Chapter an ‘This question ante im Chapler 10, where the tain hens desig ‘apni to lnc masini pase stone‘ tw sce be eal ‘ioe oe einai ie coms at a os stows sabi properties. Wilh (he wow cate, Dada ea I peter even bon the wlptationfsotco! af, Tas tans tht ie ‘spe ae fe coral ors ate oy the Hebe of pes Tote, teal of aelivingssyptotie tucking. The dyna oe ofthe nr ndaptveseane ho Me (ae ee caste sige owes) han tia pve seve Th ee for nen sen, {hs hook offers ently iw pie contol slime Atala hou std sition sos ln tht fe aw as sig elise te ‘unset perforate tHe dopa eben, 1.8.6 ‘Transient performance “The tsi ettor af opt alptve conta sees coors eo, that they sti the seve pfu eaten Ys appli, haw ‘eer the ysh00's babs! peroensnee root more lipo ‘Analyt aieatin ad syste ponent of tran pee ‘auc have bee ape ples in apie cont. Foe eit ative int comfle thee te irely 0 ees hich alow the digs ‘spate bouton the tue bin ‘One ofthe sel of hiebook ith t ese the pte of ramnt perfrmnae i alsin! finereek Conable tts perforce Bands ate devi for mot ofthe desig entoler "The depen a ‘Sw bounds om sign pas and Si ais cle ie su sere a ie or eae perenne nee 1k well kw tating he il pio, we se paramere nates oot he tes isa apie seers exit age nid ving The desir i is Lod impo the teen fll to lat Touton The Bt route a rapid exchange af Information hese the "lr ud te enter. Ti thease wit the unig fesion contol 1a Chaplets snd el obo nec te eet of te pte et asin mins y incorporating a oe oft pets the preter nla lam, The son eo ters lsonger soto wih mupreses the dale Tugel of poe parameter etn This ey reson penance imorover nite in ane desist Chen 0 "The peformaice nna for tho tug fantione seine sow that te uapive counsels satpro ts yeondspive counteract Ac deed [Capt 20 the ea fc eve ape cw en se, 1A Normnow a” 1.3.7 Caveat: robustness Fobostalayation cates tope of ape cone ve nel rec mae by the pata quo rind heey 1050 What Inge sop ie saat ol ae tra by ann ety lstubonces! Nar aves hae Bon lin ane adeno aop, sche fats 2 8, They ep rar ali ot opie nate cont thoy be and tl fxd 00 bait in Ie stone The at meee eee deep and ar oo aed ashok. Bul on neal ee ne cota ately on ase pated ine nes Wek hy Tena ‘ed Si 6, we expe that sia rob nude ll bs eon ‘apis onl aden delphi n 1.4 Notation or wetrs we wt 2 fot pe)!™ "o dente the weight Baia orm of 2, Fie mate, itis 4 (meen) = (etxxty)'? ‘ois the Pein ad |X ett he ind mo. The &€: ant £, nari deena oy “ ie Te D-t oo be sce fl ile whith me gly howode, acy ound ad squace-jategtable tp ery W suteateoe on fi), 1p > 0, ate dente Ceony eta snd Cle sce By syag tat sgl baa ee loi) me wean that he aereaig Du neon By dosing to mac) se exponetly sae ne es a he conesponig LV sytem ¢ = Aije Bement “Te ith cortnae vce nde iy, Tc ge be fe td in sce offer nemo co the sme ne es from the context. Symbols Xj and X;, respectively, denote the it ‘ ‘the jth colnow af maszix rae Notes and References Bek tes on lato cnt ae Gud ta 8 ‘nl Radon cit ppc, Se ace somo 2] fr the melee ache At eensPart I Soha [HH State FeedbackChapter 2 Design Tools for Stabilization Fenris this ook te compos of spe basi tps. They ae refed Yo ts "backstop desig” boone they “sep Ln” Ton he onto iput searing with he slr sation whith be separate ws te he Target aber of netic, Aer Ine revi of Lyapuno sabi is capes bcstepping tol, st for natci withont acral nd the for thse with unre The most esmeutary integrator balateping Yo! eres Io recive design forthe age of ait dbl” aye. Amster to lock bachteppng ode va eal lr staiation of eaeade sate Tithe sisme of eet, bksteppig be wet oes mi: xe pte to ane Hen pe stein eat of ounten Hower iis aml otbe mf elk Iesston” rie sncelaton af mae ‘ies, even te wich ae eal oe taba ad tracking A ler ‘nduage of lactis he eit ty wed emceltone fife ho that of narzton "Ty tsk of nonlinear design is ach more chaining inthe presen of seein: When the eran este that en pent the ‘ne ton a the cometh desig with “one npn” arses Trnndoner even ste the bos ont certain ne Kn. A re vache olf med 10 able Rounded he ease he uocrtiny’ ia ot tate a, when It appears ble the conte Input Berkstepping wich such genera of oul wacereite ith ‘cra tod hey ta aed tse bounded wont apation, ‘Whe tence iin th fru costnt bt unnen parameters hen ‘re mabe for of backsepning i avetiebackseprng, develop Cater 32 eso Toots ror SranmziToN 2.1 Stability 2.1 Main stability theorems Pr allosto stews far adaptive coil ssn in pel stay iste rian roqoynt Stay cones tate widely ed i onal heats mre Laypenan ssi und sata stabi, Tol or asus Of Tut ofthese ees bite stmarizd in Appendices A thre D. "Tent chp of theo deal ety ws Lyapunov iii wth wen bret review. Lyapunov Stabiliy. ‘To begin with, we renind the sale het Tyapmnoe ini esp sabi, Fier ave properirs ot of dua: system ae le ba aller of is navidad soln Ceaser the tive syn ten ba slat, en ce 2 6 AY, and {2 IHR, — IR fo pceeite contin in ta Feats Lipite ns "The salto of (21) whi seams rom He pola tiny 2 Dis desea rtp fo with fal =. Lap stay oct decribe eosonity proper f (fry) with respect 0 2a TE ‘hen cont yt pear to 2 efor stay he resang tbe slain (Zt) eed to stay sn ta Cry.) fal > ta niin, for spat staby the ror el) ~218 24) Hetero anc sf. So, the slation #2) (21) 8 Bound, ees «constant Bry fe) > sucha Iotsto tll < Banta, VEE e4 sae or och > these ets Ae) > Osh tha Hien e8 = lottinde)—albzntdl <2, WORM 23) stuctive Uber est al) > ae free => 0, a Tet) > sin tht Himanl cr = batizote) atts <2, 82 TS (24) sympotcaly eA able ud ateatn; and + snstaie 11 is ot tabe Fi eal wet Trib he rb el th ky Kl 2a sramurv a ‘The siaiity properties of (25 in geal depen ea the ntl tne fo. Bor fro ty dierent sales of law hdres ety) iyo ce to ats (22) (23) ae (24) Whea ose eons ae Independent of fo the comespoading properties are more? For adaptive stems, nif sly is ore destable Than jet stably. Even nate esablsswnjorm espopatiestbty,ftensbviene o UAS. The sluion {Heayto is UAS i worm tale end wuforlyaiacbu, et i ‘Het Beh, ft) = rail Plot) =e to ot dep on Sone onto of yen stem sy be stable a thers stale. In tenor (21) yb sabe a tle epi, that sent Toons ls fo) = 7 ting f(s) =O. fm ea Basen totes ab, tha bars region nf traction ase of ita ater Sent tha nf] — teak? = 90 forall € 82 Tn this bo, he ‘abit repetios for which nn este of he region of eration ven fattnton the whale space 1, the the ably properties te soa rndcingthe state as = Sch raion = = 28} lin fn soltion 24-2 that th ston wer tigi on ss be cer to bea eqn af the origin wit corpo olefin of Jt) i FF such tt 40) =O, nay = set atise ttl Matretiy & Het). (25) ‘Theaine, thee sno lat of gory staring the stabi coats faethe mre elton 60g), In aaghive eaching ple i elation poticuelyapenil whan the tate = reper ke ekg To he of praia inerest, sity conitons mst no route th ply salve (21). ‘The tet meted af Lape ins mde {he aby proper of stl fy) om Use properties of fF) at he Fulop wh postive dette fncon P(A) For gal seal, thie femction at be rly abounded, tht 1,4} — 22a fo) = oo ‘nfo in tor spe, we sil ase that the eration ta ae “ign bs boon perfor, that, J) = Da as the slon ur invetiton c=. ‘nif nanpate stability sw dscable proper ease ste ht sea se etter with perturbations ad disturbances. We sal se Rati general adaptive deg ate les an uniform syed igs However, they alee more than ale tbl becuse they fare he treme le eonree to er. This propesty ele ta yultiona esto Toots rox Srananiion ‘we the reer sgl costa, ad troctng when i sa Hnevarsing Tipe Por convrgrre analy «power oa the llowing stares de fe LaSalle [1] sed Yee [0 ‘Thcorem 2.1 (LaSalle Yoshiawa) Let 2 =0 be an qui pint of (2.0) on supe Js fly Lic i = asf inf, Lat VR I, bow contnondy sient, postive dete au oly seat Sunction V(r) one that a, v= Moyinns-Wanse, VEER YER, 26) Meta s We) $8, Vez c se ie conioonsfanction. The, ll soltions of (21) a glbally for Bonne a safe fay WUa(Q) =. en In adtion, if) i postive fie hn the eperam 2 =e lally fot asp stable (GAS) Devas fits inportsice more genera version of tis eae and ts woot ae nll Appendix A (Thar A), lng with eel sed {ese mio art (15 se A) The Lal Van {tear lb aplcable to Giearyng stems and lus us tetas com “eget fhe set B where 1s) Ror ment four design task, me il Comtrct (2) ouch that the ae cose ally ofthe wrajectore wich thet the racing abjetve, tab along wie he eng ero su Ian sy she dpe syste ull erat, b= fe) es) in wei cat ere infeet nfs invert set A se Mf call an Fnvaiantoet of (28) i ny alation ff) tha! long 10 Af at soe tne Feta) nn olny oH al fate and pet te: sea 4 eM, Wem 9) ‘sot isp erin i ue for ll fare ine nl: sed > xen, VE5 0) ‘Can we gancaice convergence dered vit ct? Arowaring answer tothis auton wove by LaSalle’ variance Theorem end ts asympotle ality corllay ‘Theorem 2:2 (LaSalle) Lt 2 be w posiiely invariant set of (28). bat Vitt=i tea eontinnoly ferential faction V4) such tat V2) D, Wee. LAE = ee 8 |V (a) =O), tM be Hebel ine ‘sc cman im E. Ten every bom ation 2) starting in convener Corollary 2 (Asymptotic Stability) Let x = 0 fe te only erin of (28). Lav IR" Ry be w cnlinaonly diene, ute defi rail eon fonction Vs) such tat V(r} 2, V2 ERY Lat {ee R" |V(e) =O). and pp Dat no elation other thn 0) ay freer is B. Thon the orn lly sympa tebe (Ga. "hs nance rss wil woke We nly examine the asia cilacer of BA we sal or, the comergete optics ofthe desig ‘of asvinptotie stabiity, the Iara iran’ subact M of Es at the agin 20. Oar an il tho be to ruler the tte of a ow ple Inpue-to-State Stabile Another stability concpt which wl tea ‘it the ook Ie that of input-estate stale (88), todd hy Son ‘ng (17, The system Basen) enn Sn mid tobe iepuoaale lble (155) fr any 0) a for apt of) ‘tins od Founded oo (00) he salon extol > a sais wiorcaoaoioer(age). ve28, ea nef nds) ate srt inctensng nso of Rw (04t) = 1, 0) =, white a detention of wel at et "This defnitin of inut-tostate stability appropriate or malner ape tens snr it expil ncrportes He lt ofthe iil conditions {212} shows thatthe worn ofthe state x0) depen nat uly othe op Wa): but lo inclndes un nyt denn const se). or extensive etn oS fe gen fo Apnd C 2.1.2 Control Lyapunov functions (elf) ‘his book is abot contol de: Out ohjsetive i iste clos op ome with dele abit preston, athe han atnlyae the properties ffs given syst, Fortis ran, eae eaten extension of he Tyan faction coop, called m enol Epapunen fection (cl).2% estos ‘Took yon SramtaTion Suppose tha oar problen for he tno st Fe fly), TER, wR, f0.0=0, C19) sto dng = feeb contol In a) fo the conta viable wach that "he ican += 0 of the cos oy tenn 2 = stele) ey Is lolly asta stable. We en pick faction (2) a. Lapua ‘rit, rogue st dealin sou the mln of (2 14) mt Vea) = =i 2), wwe I) ie pie defi anton, We therefre as Ved fs) usar tha fo all> © Re his i fot tase A stabi conto! aw ft (2) aay exist at nal to nie (25) because af oor ese of V(x) and 1). Asses Tor which goo sie of Us) and IV) exists deo poses ae La te mae this ton pre Definition 2A mnaot pontine dite and endaly wilomndadfotin eM, elle contol Lyapanes funtion (lf Jor (219) 51 s{Mano}eo ves. tin ‘The a coop of Atte fd Song [172] sm gern of Ly nor goesla by Ja we and Qn Aree ‘Rowe (216) I wot onl nacesy, Dt aay sient forthe eitence oferta satin (2.15), tht the etn of el alent bal soymvote stall oe aye fine The conte = Keitale, 10)=0, ean) the eomality £215) becomes W poy 5 & seas gatas) < -140), as) IV (a inne or (217), thew x patel stating onl law a2), anon foe ll Df given By Sontag fr 71) ETE w 7 ae o Meno 1 shou bo aot hat (2.18) canbe satisfied onl if ®ye=0 = Lines worm (QE) «Bayo vee. ta A free eracterition of tabling cont law ae) fr 217] wh ‘ge eEY that oe) cnn at an nl Hf hee aoe {eat ano property Boe each & > Othe ism Be) > Ouch 2 0 sais ol hen these tone «th Jo hth a Yeast <0 ea The in define of the of cone design to! Ks that for most noatnear system ae fs wot own The task of Bing wy appre ‘At may bea comple att of dsighg stubs felt In Foe evetlioportan sees of soli systems, we wll se Chee 8 tasks Stance ang daclatping povedne To ait this proce we noe We ale te Bad Vz) nad ee) at hs for scale systems Feu for scan aptems, V(s) = fai lays encanta (2:18) 6 cay to sti Thies lstrated Ly a exauple whic al ostes ‘waning that sone designs edt wate of conte eample 2.5 For the sa stony shown In Figure 2 fe owe P 4 229) ‘urtask eto dina fecha contol aw which rete od gall ine th ein at >= @. We ll omar nee deen dei In fondue igerttin sign the ctl I wane ae 20) nee tl mantis (cos ad 1) nd rplces then by 2 that the reslg edhe sytem ia t=» TaKing via = de aa se nl (20) a he tr (28 ci een {ish ri Vl) Sot Kraay semitone a a2s Distew Toots re Seaman : TK a con(-} igure 21: The bck dag of te (225, stabinton a ¢ = 0, tng fb tn 2 bl, xpi for Tage vals of On he er bd, tho prsanoe of in he conttae (224) isl Te eas to lago nguitoes of al may cate ora ‘tate easouabl dst sot to ean With Ve) = 2 bare we tke (2) = 7s the the onto in ating (218) Dees 12) 20) In theese the ange of gums aly Une With. nly, ur third eoial a ne ep Seats os (210) Sine this frais Delon the eno ht J(0) =D, we Hest eee by Intolcing m= nea +, We gain ae V2) ~ Jem one elf aad eulnge ‘fom (21) oth f= 3 and 9 = i= ase) = PVT @: A senate propery of (2.2) i tha os) — 0 af ~ 2, which en ‘hat fr lage [lh otal law few roar to the terms =a eed torplace the agian a¢ =D. ‘The rationale i Gear: Expt for the oelton of casa te ett is inact fr geo bees tho he {ntsnal ann ftback 1 tes over al forest ro. In eis ‘ny cnt fr uot so ehlee appre ley present he ‘ste On the eter bad, for sar] we ve n= 2, wih i the sae ‘iu the revo conl ls I yt heck hat 9 =~ om 2) ‘vines (218) wth We) = 2 20FT. Ths conta a Isoupesir bose Fermi ese contol fort tha the br 1. ° xample 2.6 The sears sow a Figure 22, Ie of attest esate isnot stabzble in spit ofthe singly at 120, We pce with Ur} = 42 ad bie het choo oF lero 2.2 Te bok digrn of ytn(2 bw = (229) for», woo the cntlaw ae (tee £ ate a0) which yes the lbaly asymptote stable dose lop apten $= =o Ts this cas, Stags fora yee = a) = -2 (U4 VF) ean which satis (218) with Ft) = VT Clty this contol hw ne ‘ates oe conte oe in [2.0 ° Porscalor ystems thc a quai lf vous ad he none dig ie steaighforeads The haf sonkenites are eons the ‘tel 2.2 Backstepping 2.2.1. Integrator backstepping ‘The sinpbeiy of salar oss est oe theme arin pits of recuse designe fr higheraner ssteas. Let ft court or scomorer spree We gin hy anenting the sytem (228) wit at Inert: bm ori stag (2320) ins eam) ‘Lot toes objective the mglstion of (2) thai (9) Das — forall x0) (0). Of couse.) mat rennin bound From (222), tae Din at (es€) = (=I). We wil mt oar designi 7} | Gal col) Figure 23: The ne dagen of te (25) liste ty semen his GAS, lathe Mk dg in Fase 2.3 {hesclr sean (238) of Fig 2.1 appears inthe ds x. To onset 4 t for (22) wl explo the fat that af sho fr is sso Inthe dashed bade, € wee he couto inp an (2524) Would Ie leat Yo (228) nd the conrexpding lf a onto wo be Yu) epee (el (220). Of couse € i st sate ‘asad nt he con, Neveteles, a sed wale” we preset Gu = ~ee ee 2 als) 33) Ut s be the devition of om ts desired vale: Fe fig = Enola Wi eal € a era entra and desi valor of) alabiisng faction The arishle= the coresponing cron nriall= Now we rewrite the ta (259) the [,2}-cordinates in which 3 tn of 4 ote convene Fr, tsilttted in Figunes 24 und 28 String fom (22) nd Figure 23, me ‘el a suet to bing fnction (eto the -equton as showrn Figute 24. Then we ws oe] a he fdback corel ie the dashed tae ts "ackstep" at) tnongh the interarm Fgae 2.5. Inthe abe ‘ori (5 he eaten epee haz tons sn) B= cme 4[gtmetone|=qen ome —ge Pes (ia) fm Gnd nbtlermsnshimet (email (-cie= 242). (2360) “The fine hy rt of cheng i ha ws doa a ie 0 ipa he ne dae (2-55) sae oe) ska ‘tay toconpate ts tine date aya at les) (e242) (238) 22 Backsrermne a ate) — : von) at Figure 2.4 Worn a) a the sie ale We now et lst of forthe syste (232), Lat we a octet st ty ageing Ve} wh gti ante eon vie eng) = Vo) + wleslerarteas?. (aan ‘The dative of Vg the slain of (2.35) compute a ate = ef-ar-A4]ts [tla sun (ar 24] igure 2.5: Cling the edb oop bs dtd ox wit 0 wn “ete ng =o teu he et,