Prentice Hall Advanced Reference Series ze Engineering Denno Power System Design and Applications for Alternative Energy Sourees Fory, AKERS, AND GREENRICH Ultra Large Scale Integrated Microelectronics Havin, Ep. Selected Topics in Signal Processing JouNsON Lectures on Adaptive Parameter Estimation Muurinovic, Ep Microprocessor Design for GaAs Technology QuacKENBUSH, BARNWELL III, AND CLEMENTS Objective Measures of Speech Quality RorFeL, VERMEER, AND CHIN. Simulation and Implementation of Self-Tuning Controllers Sastry aNd Booson Adaptive Control: Stability, Convergence, and RobustnessPRENTICE HALL INFORMATION AND SYSTEM SCIENCES SERIES Thomas Kailath, Editor ANDERSON & Moone Agro & WITTENMARK GaroxeR Goopwin & Sin Grav & Davison Haves Jaws SoHNSON Kalcati Kono Kono, Wuirenouse, & Kararn, Liuxe Macovsx Mesa & Sac: SastRy & BODsON Spuuker Wittians Optimal Filtering Computer-Controlled Systems: Theory and Design Statistical Spectral Analysis: A Nonprobabilistic Theory Adaptive Filtering, Prediction, and Control Random Provesses: A Mathenatical Approach for Engineers Adaptive Filter Theory Fundamentals of Digital Imege Processing Lectures on Adaptive Parameter Estimation Linear Systems VLSI Array Processors VLSI and Modern Signal Processing System Identification: Theory for the User Medical Imaging Systems ‘An Introduction to Probability and Stochastic Processes Adaptive Control: Stability, Convergence, and Robustness Digital Communications by Satellite Designing Digital Filters ADAPTIVE CONTROL Stability, Convergence, and Robustne: Shankar Sastry University of California at Berkeley Mare Bodson Carnegie Mellon University Prentice Hall, Englewood Cliffs, New Jersey 07632Library of Congress Cataloging Pubic Data St: St Se Sa Sins Gal ae Mare Betas oe toe tps Ha snc ees te) 2 7 SSS iy ty, en nt ems, 1. aon Me Te Ha SF 1099 samo cao de cir Prentice-Hall Advanced Reference Series Prentice-Hall Information and System Sciences Series EG © 1989 by Promicestial, Ine A Division of Simon & Schuster Englewood Chiff, New Jersey 07692 All rights reserved. No part of this hook may be reproduced, in any form or by any meens ‘without permission in writing from the publisher Printed in the United States of America wosT6 54321 ISBN O-13-00432b-5 Prentice-Hall erations (UK) Limited, London Prentice-Hall of Austalia Py Limited, Svdaey Prentice-Hall Canada Ine. Toronto Prentice-Hall Hispanoamerican, S.A, Mexico Prentice-Hall of Inia Private Limited, New Delhi Ponte Hal of pan, Ie Tyo Simon & Schuster Asia Pie LU. Singapore Editors Premice-Hall do Bras Lida. Rio de Janeiro To our parents