Adaptive Control

Adaptive Control by Rogelio Lozano.

Adaptive Control provides techniques for automatic, real-time adjustments in controller parameters with a view to achieving and/or maintaining a desirable level of system performance in the presence of unknown or variable process parameters. Many aspects of the field are dealt with in coherent and o...

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Bibliographic Details
Main Author: Lozano, Rogelio (Author)
Corporate Author: SpringerLink (Online service)
Format: eBook
Language:English
Published: London : Springer London : Imprint: Springer, 1998.
Edition:1st ed. 1998.
Series:Communications and Control Engineering,
Springer eBook Collection.
Subjects:
Control engineering.
Computer-aided engineering.
Applied mathematics.
Engineering mathematics.
System theory.
Robotics.
Mechatronics.
Vibration.
Dynamical systems.
Dynamics.
Electronic resources (E-books)
Online Access:Click to view e-book
Holy Cross Note:Loaded electronically.
Electronic access restricted to members of the Holy Cross Community.
Table of Contents:
  • to Adaptive Control
  • Adaptive Control - Why?
  • Adaptive Control Versus Conventional Feedback Control
  • Basic Adaptive Control Schemes
  • Examples
  • A Brief Historical Note
  • Concluding Remarks
  • Discrete Time System Models for Control
  • Deterministic Environment
  • Stochastic Environment
  • Concluding Remarks
  • Problems
  • Parameter Adaptation Algorithms - Deterministic Environment
  • The Problem
  • PAA - Examples
  • Stability of Parameter Adaptation Algorithms
  • Parametric Convergence
  • Concluding Remarks
  • Problems
  • Parameter Adaptation Algorithms - Stochastic Environment
  • Effect of Stochastic Disturbances
  • The Averaging Method
  • The Martingale Approach
  • The Frequency Domain Approach
  • Concluding Remarks
  • Problems
  • Recursive Plant Model Identification in Open Loop
  • Recursive Identification in the Context of System Identification
  • Structure of Recursive Parameter Estimation Algorithms
  • Identification Methods (Type I)
  • Validation of the Models Identified with Type I Methods
  • Identification Methods (Type II)
  • Validation of the Models Identified with Type II Methods
  • Selection of the Pseudo Random Binary Sequence
  • Model Order Selection
  • An Example: Identification of a Flexible Transmission
  • Concluding Remarks
  • Problems
  • Adaptive Prediction
  • The Problem
  • Adaptive Prediction - Deterministic Case
  • Adaptive Prediction - Stochastic Case
  • Concluding Remarks
  • Problems
  • Digital Control Strategies
  • Canonical Form for Digital Controllers
  • Pole Placement
  • Tracking and Regulation with Independent Objectives
  • Tracking and Regulation with Weighted Input
  • Minimum Variance Tracking and Regulation
  • Generalized Predictive Control
  • Linear Quadratic Control
  • Concluding Remarks
  • Problems
  • Robust Digital Control Design
  • The Robustness Problem
  • The Sensitivity Functions
  • Robust Stability
  • Definition of “Templates” for the Sensitivity Functions
  • Properties of the Sensitivity Functions
  • Shaping the Sensitivity Functions
  • Example: Robust Digital Control of a Flexible Transmission
  • Concluding Remarks
  • Problems
  • Recursive Plant Model Identification in Closed Loop
  • The Problem
  • Closed Loop Output Error Algorithms
  • Filtered Open Loop Recursive Identification Algorithms
  • Frequency Distribution of the Asymptotic Bias in Closed Loop Identification
  • Validation of Models Identified in Closed Loop
  • Comparative Evaluation of the Various Algorithms
  • Concluding Remarks
  • Problems
  • Robust Parameter Estimation
  • The Problem
  • Input/Output Data Filtering
  • Effect of Disturbances
  • PAA with Dead Zone
  • PAA with Projection
  • Data Normalization
  • A Robust Parameter Estimation Scheme
  • Concluding Remarks
  • Problems
  • Direct Adaptive Control
  • Adaptive Tracking and Regulation with Independent Objectives
  • Adaptive Tracking and Regulation with Weighted Input
  • Adaptive Minimum Variance Tracking and Regulation
  • Adaptive Generalized Minimum Variance Control
  • Robust Direct Adaptive Control
  • An example
  • Concluding Remarks
  • Problems
  • Indirect Adaptive Control
  • Adaptive Pole Placement
  • Robust Indirect Adaptive Control
  • Adaptive Generalized Predictive Control
  • Adaptive Linear Quadratic Control
  • Iterative Identification in Closed Loop and Controller Redesign
  • An Example
  • Concluding Remarks
  • Practical Aspects and Applications
  • The Digital Control System
  • The Parameter Adaptation Algorithm
  • Adaptive Control Algorithms
  • Initialization of Adaptive Control Schemes
  • Supervision
  • Iterative Identification in Closed Loop and Controller Redesign
  • Adaptive Tracking and Robust Regulation
  • Indirect Adaptive Control
  • Concluding Remarks
  • A Perspective View and Further Reading
  • Stochastic Processes
  • Stability
  • Passive (Hyperstable) Systems
  • Passive (Hyperstable) Systems
  • Passivity - Some Definitions
  • Discrete Linear Time-Invariant Passive Systems
  • Discrete Linear Time-Varying Passive Systems
  • Stability of Feedback Interconnected Systems
  • Hyperstability and Small Gain
  • Martingales.

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