The Resource Adaptive control design and analysis, Gang Tao, (electronic resource)

Adaptive control design and analysis, Gang Tao, (electronic resource)

Label
Adaptive control design and analysis
Title
Adaptive control design and analysis
Statement of responsibility
Gang Tao
Creator
Contributor
Provider
Publisher
Subject
Language
eng
Summary
Annotation
Member of
Cataloging source
DG1
http://library.link/vocab/creatorName
Tao, Gang
Illustrations
illustrations
Index
index present
LC call number
TJ217
LC item number
.T34 2003
Literary form
non fiction
Nature of contents
  • dictionaries
  • bibliography
http://library.link/vocab/relatedWorkOrContributorName
  • IEEE Xplore
  • John Wiley & Sons
  • Institute of Electrical and Electronics Engineers
Series statement
Adaptive and learning systems for signal processing, communications, and control
http://library.link/vocab/subjectName
  • Adaptive control systems
  • Systèmes adaptatifs
  • Adaptivregelung
Summary expansion
"Today, adaptive control theory has grown to be a rigorous and mature discipline. As the advantages of adaptive systems for developing advanced applications grow apparent, adaptive control is becoming more popular in many fields of engineering and science. Using a simple, balanced, and harmonious style, this book provides a convenient introduction to the subject and improves one's understanding of adaptive control theory." "As either a textbook or reference, this self-contained tutorial of adaptive control design and analysis is ideal for practicing engineers, researchers, and graduate students alike."--BOOK JACKET.Title Summary field provided by Blackwell North America, Inc. All Rights Reserved
Label
Adaptive control design and analysis, Gang Tao, (electronic resource)
Instantiates
Publication
Note
Made available via IEEE Xplore Digital Library
Bibliography note
Includes bibliographical references (p. 577-614) and index
Color
multicolored
Contents
Machine generated contents note: 1.1 Feedback in Control Systems -- 1.2 System Modeling -- 1.2.1 Continuous-Time Systems -- 1.2.2 Discrete-Time Systems -- 1.3 Feedback Control -- 1.4 Adaptive Control System Prototypes -- 1.5 Simple Adaptive Control Systems -- 1.5.1 Direct Adaptive Control -- 1.5.2 Indirect Adaptive Control -- 1.5.3 Discrete-Time Designs -- 1.5.4 Backstepping Nonlinear Design -- 1.5.5 Adaptive Control versus Fixed Control -- 1.5.6 Summary -- Problems -- 2.1 Dynamic System Models -- 2.1.1 Nonlinear Systems -- 2.1.2 Linear Systems -- 2.2 System Characterizations -- 2.3 Signal Measures -- 2.3.1 Vector and Matrix Norms -- 2.3.2 Signal Norms -- 2.4 Lyapunov Stability -- 2.4.1 Stability Definitions -- 2.4.2 Positive Definite Functions -- 2.4.3 Direct Method Lyapunov -- 2.4.4 Linear Systems -- 2.4.5 Lyapunov Indirect Method -- 2.5 Input-Output Stability -- 2.5.1 Lemma -- 2.5.2 Small-Gain Lemma -- 2.5.3 Operator Stability -- 2.5.4 Positive Real Strictly -- 2.6 Signal Convergence Lemmas -- 2.7 Discrete-Time Systems -- 2.7.1 System Modeling -- 2.7.2 Norms and Signal Spaces -- 2.7.3 Stability -- 2.8 Operator Norms -- 2.9 Pole Placement -- Problems -- 3.1 A Parametrized System Model -- 3.2 Linear Parametric Models -- 3.3 Normalized Gradient Algorithm -- 3.4 Normalized Least-Squares Algorithm -- 3.5 Parameter Convergence -- 3.5.1 Persistency of Excitation -- 3.5.2 Convergence of the Gradient Algorithm -- 3.5.3 Convergence of the Least-Squares Algorithm -- 3.6 Discrete-Time Algorithms -- 3.6.1 Linear Parametric Models -- 3.6.2 Normalized Gradient Algorithm -- 3.6.3 Normalized Least-Squares Algorithm -- 3.6.4 Parameter Convergence -- 3.7 Robustness of Adaptive Algorithms -- 3.7.1 Continuous-Time Algorithms -- 3.7.2 Discrete-Time Algorithms -- 3.8 Robust Adaptive Lans -- 3.8.1 Continuous-Time Algorithms -- 3.8.2 Discrete-Time Algorithms -- 3.8.3 Summary -- 3.9 Discussion -- Problems -- 4.1 Design for State Tracking -- 4.1.1 Design Example -- 4.1.2 Control System Structure -- 4.1.3 Adaptive Laws -- 4.1.4 Adaptive System Properties -- 4.2 Design for Output Tracking -- 4.2.1 Introductory Example -- 4.2.2 Control System Structure -- 4.2.3 Adaptive Laws -- 4.3 Disturbance Rejection -- 4.3.1 State Tracking -- 4.3.2 Output Tracking -- 4.4 Parametrization of State Feedback -- 4.4.1 Parametrization with Full-Order Observer -- 4.4.2 Parametrization with Reduced-Order Observer -- 4.5 Discrete-Time Adaptive Control -- 4.5.1 Design Example -- 4.5.2 Output Tracking Design -- 4.5.3 Disturbance Rejection -- 4.5.4 Parametrizations of State Feedback -- Problems -- 5.1 Control System Structure -- 5.2 Model Reference Control -- 5.3 Adaptive Control -- 5.3.1 Tracking Error Equation -- 5.3.2 Lyapunov Design for Relative Degree 1 -- 5.3.3 Alternative Design for Relative Degree 1 -- 5.3.4 Lyapunov Design for Arbitrary Relative Degrees -- 5.3.5 Gradient Design for Arbitrary Relative Degrees -- 5.3.6 Summary -- 5.4 Robustness of MRAC -- 5.4.1 Lyapunov Designs for Relative Degree 1 -- 5.4.2 Gradient Algorithms -- 5.5 Robust MRAC -- 5.5.1 Modeling Errors -- 5.5.2 Robustness of MRC -- 5.5.3 Robust Adaptive Laws -- 5.5.4 Robust Stability Analysis -- 5.5.5 Summary -- 5.6 Design for Unknown High Frequency Gain -- 5.6.1 Adaptive Control Designs Using Nussbaum Gain -- 5.6.2 An Adaptive Control System -- 5.7 Discussion -- Problems -- 6.1 Control System Structure -- 6.2 Model Reference Control -- 6.3 Adaptive Control Systems -- 6.3.1 Adaptive Control for Disturbance d(t)=0 -- 6.3.2 Robustness of MRAC with d(t) € L2 -- 6.3.3 Robust Adaptation for Bounded d(t) -- 6.4 Robustness of MRAC with L1+a Errors -- 6.4.1 Plant with Modeling Errors -- 6.4.2 Adaptive Control Scheme -- 6.4.3 Robustness Analysis -- 6.4.4 Discussion -- Problems -- 7.1 Model Reference Designs -- 7.1.1 Simple Adaptive Control Systems -- 7.1.2 General Design Procedure -- 7.2 Pole Placement Designs -- 7.2.1 Control System Structure -- 7.2.2 Pole Placement Control -- 7.2.3 Controller Parameter Adaptation -- 7.3 Discrete-Time Adaptive Control Systems -- 7.3.1 Model Reference Designs -- 7.3.2 Pole Placement Designs -- 7.4 Discussion -- Problems -- 8.1 Benchmark Example -- 8.2 Direct Adaptive Control Designs -- 8.2.1 State Feedback Design -- 8.2.2 Output Feedback Design -- 8.3 Indirect Adaptive Control Design -- 8.4 Direct-Indirect Adaptive Control Design -- 8.4.1 Direct Adaptive Control for Motor Dynamics -- 8.4.2 Indirect Adaptive Control for Load Dynamics -- 8.4.3 Simulation Results -- 8.5 Adaptive Backstepping Design -- Problems -- 9.1 Adaptive State Feedback Control -- 9.1.1 Design for State Tracking -- 9.1.2 Design Based on LDU Parametrization -- 9.1.3 System Identification -- 9.2 Model Reference Adaptive Control -- 9.2.1 Description of Multivariable Systems -- 9.2.2 Plant and Controller Parametrizations -- 9.2.3 Robust Model Reference Control -- 9.2.4 Error Model -- 9.2.5 Adaptive Laws -- 9.2.6 Stability and Robustness Analysis -- 9.2.7 MRAC Using Right Interactor Matrices -- 9.2.8 Continuous-Time Lyapunov Designs -- 9.2.9 MRAC Designs for Input and Output Delays -- 9.2.10 Adaptation and High Frequency Gain Matrix -- 9.2.11 Designs Based on Decompositions of Kp -- 9.3 Adaptive Backstepping Control -- 9.3.1 Plant Parametrization -- 9.3.2 State Observer -- 9.3.3 Design Procedure for Bm Nonsingular -- 9.3.4 Design Based on SDU Decomposition of Bm -- 9.3.5 Design Procedure for Bm Singular -- 9.4 Adaptive Control of Robotic Systems -- 9.4.1 Robotic System Modeling -- 9.4.2 Illustrative Example -- 9.4.3 Design for Parameter Variations -- 9.4.4 Design for Unmodeled Dynamics -- 9.5 Discussion -- Problems -- 10.1 Actuator Nonlinearity Compensation -- 10.1.1 Actuator Nonlinearities -- 10.1.2 Parametrized Nonlinearity Inverses -- 10.2 State Feedback Inverse Control -- 10.3 Output Feedback Inverse Control -- 10.4 Designs for Multivariable Systems -- 10.5 Designs for Unknown Linear Dynamics -- 10.5.1 Designs for SISO Plants -- 10.5.2 Designs for MIMO Plants -- 10.6 Designs for Nonlinear Dynamics -- 10.6.1 Design for Feedback Linearizable Systems -- 10.6.2 Design for Parametric-Strict-Feedback Systems -- 10.6.3 Design for Output-Feedback Systems -- 10.7 Discussion -- Problems
Dimensions
unknown
Extent
1 online resource (xx, 618 p.)
Form of item
online
Isbn
9780471274520
Other control number
10.1002/0471459100
Other physical details
ill.
Specific material designation
remote
System control number
  • (OCoLC)85819851
  • (OCoLC)ocm85819851
Label
Adaptive control design and analysis, Gang Tao, (electronic resource)
Publication
Note
Made available via IEEE Xplore Digital Library
Bibliography note
Includes bibliographical references (p. 577-614) and index
Color
multicolored
Contents
Machine generated contents note: 1.1 Feedback in Control Systems -- 1.2 System Modeling -- 1.2.1 Continuous-Time Systems -- 1.2.2 Discrete-Time Systems -- 1.3 Feedback Control -- 1.4 Adaptive Control System Prototypes -- 1.5 Simple Adaptive Control Systems -- 1.5.1 Direct Adaptive Control -- 1.5.2 Indirect Adaptive Control -- 1.5.3 Discrete-Time Designs -- 1.5.4 Backstepping Nonlinear Design -- 1.5.5 Adaptive Control versus Fixed Control -- 1.5.6 Summary -- Problems -- 2.1 Dynamic System Models -- 2.1.1 Nonlinear Systems -- 2.1.2 Linear Systems -- 2.2 System Characterizations -- 2.3 Signal Measures -- 2.3.1 Vector and Matrix Norms -- 2.3.2 Signal Norms -- 2.4 Lyapunov Stability -- 2.4.1 Stability Definitions -- 2.4.2 Positive Definite Functions -- 2.4.3 Direct Method Lyapunov -- 2.4.4 Linear Systems -- 2.4.5 Lyapunov Indirect Method -- 2.5 Input-Output Stability -- 2.5.1 Lemma -- 2.5.2 Small-Gain Lemma -- 2.5.3 Operator Stability -- 2.5.4 Positive Real Strictly -- 2.6 Signal Convergence Lemmas -- 2.7 Discrete-Time Systems -- 2.7.1 System Modeling -- 2.7.2 Norms and Signal Spaces -- 2.7.3 Stability -- 2.8 Operator Norms -- 2.9 Pole Placement -- Problems -- 3.1 A Parametrized System Model -- 3.2 Linear Parametric Models -- 3.3 Normalized Gradient Algorithm -- 3.4 Normalized Least-Squares Algorithm -- 3.5 Parameter Convergence -- 3.5.1 Persistency of Excitation -- 3.5.2 Convergence of the Gradient Algorithm -- 3.5.3 Convergence of the Least-Squares Algorithm -- 3.6 Discrete-Time Algorithms -- 3.6.1 Linear Parametric Models -- 3.6.2 Normalized Gradient Algorithm -- 3.6.3 Normalized Least-Squares Algorithm -- 3.6.4 Parameter Convergence -- 3.7 Robustness of Adaptive Algorithms -- 3.7.1 Continuous-Time Algorithms -- 3.7.2 Discrete-Time Algorithms -- 3.8 Robust Adaptive Lans -- 3.8.1 Continuous-Time Algorithms -- 3.8.2 Discrete-Time Algorithms -- 3.8.3 Summary -- 3.9 Discussion -- Problems -- 4.1 Design for State Tracking -- 4.1.1 Design Example -- 4.1.2 Control System Structure -- 4.1.3 Adaptive Laws -- 4.1.4 Adaptive System Properties -- 4.2 Design for Output Tracking -- 4.2.1 Introductory Example -- 4.2.2 Control System Structure -- 4.2.3 Adaptive Laws -- 4.3 Disturbance Rejection -- 4.3.1 State Tracking -- 4.3.2 Output Tracking -- 4.4 Parametrization of State Feedback -- 4.4.1 Parametrization with Full-Order Observer -- 4.4.2 Parametrization with Reduced-Order Observer -- 4.5 Discrete-Time Adaptive Control -- 4.5.1 Design Example -- 4.5.2 Output Tracking Design -- 4.5.3 Disturbance Rejection -- 4.5.4 Parametrizations of State Feedback -- Problems -- 5.1 Control System Structure -- 5.2 Model Reference Control -- 5.3 Adaptive Control -- 5.3.1 Tracking Error Equation -- 5.3.2 Lyapunov Design for Relative Degree 1 -- 5.3.3 Alternative Design for Relative Degree 1 -- 5.3.4 Lyapunov Design for Arbitrary Relative Degrees -- 5.3.5 Gradient Design for Arbitrary Relative Degrees -- 5.3.6 Summary -- 5.4 Robustness of MRAC -- 5.4.1 Lyapunov Designs for Relative Degree 1 -- 5.4.2 Gradient Algorithms -- 5.5 Robust MRAC -- 5.5.1 Modeling Errors -- 5.5.2 Robustness of MRC -- 5.5.3 Robust Adaptive Laws -- 5.5.4 Robust Stability Analysis -- 5.5.5 Summary -- 5.6 Design for Unknown High Frequency Gain -- 5.6.1 Adaptive Control Designs Using Nussbaum Gain -- 5.6.2 An Adaptive Control System -- 5.7 Discussion -- Problems -- 6.1 Control System Structure -- 6.2 Model Reference Control -- 6.3 Adaptive Control Systems -- 6.3.1 Adaptive Control for Disturbance d(t)=0 -- 6.3.2 Robustness of MRAC with d(t) € L2 -- 6.3.3 Robust Adaptation for Bounded d(t) -- 6.4 Robustness of MRAC with L1+a Errors -- 6.4.1 Plant with Modeling Errors -- 6.4.2 Adaptive Control Scheme -- 6.4.3 Robustness Analysis -- 6.4.4 Discussion -- Problems -- 7.1 Model Reference Designs -- 7.1.1 Simple Adaptive Control Systems -- 7.1.2 General Design Procedure -- 7.2 Pole Placement Designs -- 7.2.1 Control System Structure -- 7.2.2 Pole Placement Control -- 7.2.3 Controller Parameter Adaptation -- 7.3 Discrete-Time Adaptive Control Systems -- 7.3.1 Model Reference Designs -- 7.3.2 Pole Placement Designs -- 7.4 Discussion -- Problems -- 8.1 Benchmark Example -- 8.2 Direct Adaptive Control Designs -- 8.2.1 State Feedback Design -- 8.2.2 Output Feedback Design -- 8.3 Indirect Adaptive Control Design -- 8.4 Direct-Indirect Adaptive Control Design -- 8.4.1 Direct Adaptive Control for Motor Dynamics -- 8.4.2 Indirect Adaptive Control for Load Dynamics -- 8.4.3 Simulation Results -- 8.5 Adaptive Backstepping Design -- Problems -- 9.1 Adaptive State Feedback Control -- 9.1.1 Design for State Tracking -- 9.1.2 Design Based on LDU Parametrization -- 9.1.3 System Identification -- 9.2 Model Reference Adaptive Control -- 9.2.1 Description of Multivariable Systems -- 9.2.2 Plant and Controller Parametrizations -- 9.2.3 Robust Model Reference Control -- 9.2.4 Error Model -- 9.2.5 Adaptive Laws -- 9.2.6 Stability and Robustness Analysis -- 9.2.7 MRAC Using Right Interactor Matrices -- 9.2.8 Continuous-Time Lyapunov Designs -- 9.2.9 MRAC Designs for Input and Output Delays -- 9.2.10 Adaptation and High Frequency Gain Matrix -- 9.2.11 Designs Based on Decompositions of Kp -- 9.3 Adaptive Backstepping Control -- 9.3.1 Plant Parametrization -- 9.3.2 State Observer -- 9.3.3 Design Procedure for Bm Nonsingular -- 9.3.4 Design Based on SDU Decomposition of Bm -- 9.3.5 Design Procedure for Bm Singular -- 9.4 Adaptive Control of Robotic Systems -- 9.4.1 Robotic System Modeling -- 9.4.2 Illustrative Example -- 9.4.3 Design for Parameter Variations -- 9.4.4 Design for Unmodeled Dynamics -- 9.5 Discussion -- Problems -- 10.1 Actuator Nonlinearity Compensation -- 10.1.1 Actuator Nonlinearities -- 10.1.2 Parametrized Nonlinearity Inverses -- 10.2 State Feedback Inverse Control -- 10.3 Output Feedback Inverse Control -- 10.4 Designs for Multivariable Systems -- 10.5 Designs for Unknown Linear Dynamics -- 10.5.1 Designs for SISO Plants -- 10.5.2 Designs for MIMO Plants -- 10.6 Designs for Nonlinear Dynamics -- 10.6.1 Design for Feedback Linearizable Systems -- 10.6.2 Design for Parametric-Strict-Feedback Systems -- 10.6.3 Design for Output-Feedback Systems -- 10.7 Discussion -- Problems
Dimensions
unknown
Extent
1 online resource (xx, 618 p.)
Form of item
online
Isbn
9780471274520
Other control number
10.1002/0471459100
Other physical details
ill.
Specific material designation
remote
System control number
  • (OCoLC)85819851
  • (OCoLC)ocm85819851

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