Download e-book for kindle: Adaptive Control Tutorial (Advances in Design and Control) by Petros Ioannou, Barýp Fidan

By Petros Ioannou, Barýp Fidan

ISBN-10: 0898716152

ISBN-13: 9780898716153

Designed to satisfy the desires of a large viewers with no sacrificing mathematical intensity and rigor, Adaptive keep an eye on instructional provides the layout, research, and alertness of a large choice of algorithms that may be used to control dynamical platforms with unknown parameters. Its tutorial-style presentation of the elemental recommendations and algorithms in adaptive keep watch over make it appropriate as a textbook.

Adaptive keep watch over educational is designed to serve the desires of 3 particular teams of readers: engineers and scholars attracted to studying tips on how to layout, simulate, and enforce parameter estimators and adaptive keep an eye on schemes with no need to totally comprehend the analytical and technical proofs; graduate scholars who, as well as reaching the aforementioned goals, additionally are looking to comprehend the research of easy schemes and get an idea of the stairs thinking about extra advanced proofs; and complex scholars and researchers who are looking to examine and comprehend the main points of lengthy and technical proofs with an eye fixed towards pursuing examine in adaptive regulate or similar issues.

The authors in achieving those a number of pursuits by means of enriching the e-book with examples demonstrating the layout strategies and easy research steps and by way of detailing their proofs in either an appendix and electronically on hand supplementary fabric; on-line examples also are on hand. an answer guide for teachers may be got by means of contacting SIAM or the authors.

This booklet might be important to masters- and Ph.D.-level scholars in addition to electric, mechanical, and aerospace engineers and utilized mathematicians.

Preface; Acknowledgements; checklist of Acronyms; bankruptcy 1: creation; bankruptcy 2: Parametric types; bankruptcy three: Parameter id: non-stop Time; bankruptcy four: Parameter id: Discrete Time; bankruptcy five: Continuous-Time version Reference Adaptive keep an eye on; bankruptcy 6: Continuous-Time Adaptive Pole Placement regulate; bankruptcy 7: Adaptive keep watch over for Discrete-Time platforms;

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Additional resources for Adaptive Control Tutorial (Advances in Design and Control)

Sample text

Problems 23 4. Consider the fourth-order ARMA model where a\, a2, b\ are unknown constants. Express the unknown parameters in the form of a linear parametric model. , u(k — 4), y ( k ) , . . , y(k — 4), are available for measurement. 5. Consider the nonlinear system where a\, a2, b\, b2 are unknown constants and x, f \ ( x ) , f2(x), g\(x), g 2 ( x ) , u are available for measurement. Express the unknown parameters in the form of (a) the linear SPM, (b) the linear DPM. 6. , a, c, Kp are unknown constants.

Least-Squares Algorithms 43 In practice, dn may be due to sensor noise or external sources, etc. We examine the following estimation problem: Given the measurements of z(r), 0(t) for 0 < T < t, find a "good" estimate 0(0 of 9* at time t. One possible solution is to calculate 0(0 as by using the measurements of z(r), 0(r) at some T < t for which 0(r) ^ 0. Because of the noise disturbance, however, such an estimate may be far off from 6*. 39). A more intelligent approach is to choose the estimate 0(0 at time t to be the one that minimizes the square of all the errors that result from the mismatch of z(t) — 0(t)(r) for 0 < T < t.

21), which has exactly the same form as in the case of an arbitrary number of parameters. 21). 26) with is a monic Hurwitz polynomial, we obtain the parametric model 2 At high frequencies or large s, the plant behaves as -^^; therefore, kp is termed high-frequency gain. 5. Example: Vector Case 35 where If Z(s) is Hurwitz, a bilinear model can be obtained as follows: Consider the polynomials P(s) — pn-\sn~{ + • • • + p\s + PQ, Q(s) = s"~] + qn-2sn~2 + • • • + q\s + qo which satisfy the Diophantine equation (see the Appendix) where A 0 (^) is a monic Hurwitz polynomial of order 2n — m — 1.

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Adaptive Control Tutorial (Advances in Design and Control) by Petros Ioannou, Barýp Fidan

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