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I. D. Landau, R. Lozano, M. M'Saad, "Adaptive Control" |
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Springer-Verlag London
Limited, 1998 |
1. Introduction to Adaptive Control (1) |
| 1.1. Adaptive Control - Why? (1) | |
| 1.2. Adaptive Control Versus Conventional Feedback Control (3) | |
| 1.3. Basic Adaptive Control Schemes (10) | |
| 1.4. Examples (22) | |
| 1.5. A Brief Historical Note (26) | |
| 1.6. Concluding Remarks (29) | |
| 2. Discrete Time System Models for Control (31) | |
| 2.1. Deterministic Environment (31) | |
| 2.2. Stochastic Environment (40) | |
| 2.3. Concluding Remarks (48) | |
| 2.4. Problems (49) | |
| 3. Parameter Adaptation Algorithms - Deterministic Environment (51) | |
| 3.1. The Problem (51) | |
| 3.2. PAA - Examples (53) | |
| 3.3. Stability of Parameter Adaptation Algorithms (72) | |
| 3.4. Parametric Convergence (106) | |
| 3.5. Concluding Remarks (113) | |
| 3.6. Problems (114) | |
| 4. Parameter Adaptation Algorithms - Stochastic Environment (117) | |
| 4.1. Effect of Stochastic Disturbances (117) | |
| 4.2. The Averaging Method (122) | |
| 4.3. The Martingale Approach (131) | |
| 4.4. The Frequency Domain Approach (144) | |
| 4.5. Concluding Remarks (148) | |
| 4.6. Problems (148) | |
| 5. Recursive Plant Model Identification in Open Loop (151) | |
| 5.1. Recursive Identification in the Context of System Identification (151) | |
| 5.2. Structure of Recursive Parameter Estimation Algorithms (153) | |
| 5.3. Identification Methods (Type I) (158) | |
| 5.4. Validation of the Models Identified with Type I Methods (168) | |
| 5.5. Identification Methods (Type II) (171) | |
| 5.6. Validation of the Models Identified with Type II Methods (176) | |
| 5.7. Selection of the Pseudo Random Binary Sequence (179) | |
| 5.8. Model Order Selection (182) | |
| 5.9. An Example: Identification of a Flexible Transmission (188) | |
| 5.10. Concluding Remarks (191) | |
| 5.11. Problems (192) | |
| 6. Adaptive Prediction (195) | |
| 6.1. The Problem (195) | |
| 6.2. Adaptive Predication - Deterministic Case (196) | |
| 6.3. Adaptive Prediction - Stochastic Case (200) | |
| 6.4. Concluding Remarks (206) | |
| 6.5. Problems (206) | |
| 7. Digital Control Strategies (209) | |
| 7.1. Introduction (209) | |
| 7.2. Canonical Form for Digital Controllers (212) | |
| 7.3. Pole Placement (215) | |
| 7.4. Tracking and Regulation with Independent Objectives (228) | |
| 7.5. Tracking and Regulation with Weighted Input (235) | |
| 7.6. Minimum Variance Tracking and Regulation (238) | |
| 7.7. Generalized Predictive Control (243) | |
| 7.8. Linear Quadratic Control (256) | |
| 7.9. Concluding Remarks (259) | |
| 7.10. Problems (260) | |
| 8. Robust Digital Control Design (267) | |
| 8.1. The Robustness Problem (267) | |
| 8.2. The Sensitivity Functions (269) | |
| 8.3. Robust Stability (270) | |
| 8.4. Definition of "Templates" for the Sensitivity Functions (283) | |
| 8.5. Properties of the Sensitivity Functions (285) | |
| 8.6. Shaping the Sensitivity Functions (293) | |
| 8.7. Example: Robust Digital Control of a Flexible Transmission (297) | |
| 8.8. Concluding Remarks (301) | |
| 8.9. Problems (303) | |
| 9. Recursive Plant Model Identification in Closed Loop (305) | |
| 9.1. The Problem (305) | |
| 9.2. Closed Loop Output Error Algorithms (310) | |
| 9.3. Filtered Open Loop Recursive Identification Algorithms (314) | |
| 9.4. Frequency Distribution of the Asymptotic Bias in Closed Loop Identification (317) | |
| 9.5. Validation of Models Identified in Closed Loop (321) | |
| 9.6. Comparative Evaluation of the Various Algorithms (324) | |
| 9.7. Concluding Remarks (335) | |
| 9.8. Problems (336) | |
| 10. Robust Parameter Estimation (339) | |
| 10.1. The Problem (339) | |
| 10.2. Input/Output Data Filtering (341) | |
| 10.3. Effect of Disturbances (343) | |
| 10.4. PAA with Dead Zone (347) | |
| 10.5. PAA with Projection (350) | |
| 10.6. Data Normalization (354) | |
| 10.7. A Robust Parameter Estimation Scheme (364) | |
| 10.8. Concluding Remarks (365) | |
| 10.9. Problems (366) | |
| 11. Direct Adaptive Control (369) | |
| 11.1. Introduction (369) | |
| 11.2. Adaptive Tracking and Regulation with Independent Objectives (371) | |
| 11.3. Adaptive Tracking and Regulation with Weighted Input (382) | |
| 11.4. Adaptive Minimum Variance Tracking and Regulation (384) | |
| 11.5. Adaptive Generalized Minimum Variance Control (401) | |
| 11.6. Robust Direct Adaptive Control (403) | |
| 11.7. An example (417) | |
| 11.8. Concluding Remarks (419) | |
| 11.9. Problems (420) | |
| 12. Indirect Adaptive Control (423) | |
| 12.1. Introduction (423) | |
| 12.2. Adaptive Pole Placement (427) | |
| 12.3. Robust Indirect Adaptive Control (445) | |
| 12.4. Adaptive Generalized Predictive Control (454) | |
| 12.5. Adaptive Linear Quadratic Control (455) | |
| 12.6. Iterative Identification in Closed Loop and Controller Redesign (456) | |
| 12.7. An Example (458) | |
| 12.8. Concluding Remarks (461) | |
| 13. Practical Aspect and Applications (463) | |
| 13.1. Introduction (463) | |
| 13.2. The Digital Control System (464) | |
| 13.3. The Parameter Adaptation Algorithm (472) | |
| 13.4. Adaptive Control Algorithms (477) | |
| 13.5. Initialization of Adaptive Control Schemes (479) | |
| 13.6. Supervision (480) | |
| 13.7. Iterative Identification in Closed Loop and Controller Redesign (480) | |
| 13.8. Adaptive Tracking and Robust Regulation (484) | |
| 13.9. Indirect Adaptive Control (485) | |
| 13.10. Concluding Remarks (495) | |
| 14. A Perspective View and Further Reading (497) | |
| A. Stochastic Processes (505) | |
| B. Stability (511) | |
| C. Passive (Hyperstable) Systems (515) | |
| C.1. Passive (Hyperstable) Systems (515) | |
| C.2. Passivity - Some Definitions (516) | |
| C.3. Discrete Linear Time-Invariant Passive Systems (518) | |
| C.4. Discrete Linear Time-Varying Passive Systems (523) | |
| C.5. Stability of Feedback Interconnected Systems (525) | |
| C.6. Hyperstability and Small Gain (528) | |
| D. Martingales (533) | |
| Bibliography (541) | |
| Index (559) | |
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