Download PDF by Petros Ioannou, Barýp Fidan: Adaptive control tutorial

By Petros Ioannou, Barýp Fidan

Designed to fulfill the wishes of a large viewers with no sacrificing mathematical intensity and rigor, Adaptive keep an eye on instructional offers the layout, research, and alertness of a wide selection of algorithms that may be used to regulate dynamical platforms with unknown parameters. Its tutorial-style presentation of the elemental innovations and algorithms in adaptive keep an eye on make it compatible as a textbook.

Adaptive regulate educational is designed to serve the wishes of 3 certain teams of readers: engineers and scholars attracted to studying the right way to layout, simulate, and enforce parameter estimators and adaptive keep watch over schemes with no need to completely comprehend the analytical and technical proofs; graduate scholars who, as well as achieving the aforementioned goals, additionally are looking to comprehend the research of straightforward schemes and get an concept of the stairs considering extra advanced proofs; and complex scholars and researchers who are looking to learn and comprehend the main points of lengthy and technical proofs with an eye fixed towards pursuing learn in adaptive keep an eye on or similar subject matters.

The authors in achieving those a number of goals via enriching the booklet with examples demonstrating the layout methods and easy research steps and through detailing their proofs in either an appendix and electronically to be had supplementary fabric; on-line examples also are on hand. an answer handbook for teachers will be acquired through contacting SIAM or the authors.

This e-book should be priceless to masters- and Ph.D.-level scholars in addition to electric, mechanical, and aerospace engineers and utilized mathematicians.

Preface; Acknowledgements; record of Acronyms; bankruptcy 1: advent; bankruptcy 2: Parametric types; bankruptcy three: Parameter identity: non-stop Time; bankruptcy four: Parameter identity: Discrete Time; bankruptcy five: Continuous-Time version Reference Adaptive regulate; bankruptcy 6: Continuous-Time Adaptive Pole Placement regulate; bankruptcy 7: Adaptive keep watch over for Discrete-Time structures;

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Example text

The SSPM is generated as where aw, > 0 is a design constant. 9 (parametric model for nth-SISO LTI system) cONSIDER THE siso lti system described by the I/O relation where and u and y are the plant scalar input and output, respectively. We can also express the above system as an nth-order differential equation given by Lumping all the parameters in the vector 22 Chapter 2. Parametric Models we can rewrite the differential equation as Filtering both sides by -^-, where A(s) = sn + Xn-\sn~l -\ Hurwitz polynomial, we obtain the parametric model h A i s + AQ is amonic where See the web resource [94] for examples using the Adaptive Control Toolbox.

Since 9* is unknown, the difference 9 = 9(t) — 9* is not available for measurement. Therefore, the only signal that we can generate, using available measurements, that reflects the difference between 9(t) and 9* is the error signal which we refer to as the estimation error. m2s > 1 is a normalization signal1 designed to guarantee that ^- is bounded. This property of ms is used to establish the boundedness of the estimated parameters even when 0 is not guaranteed to be bounded. A straightforward choice for ms in this example is m2s = 1 + a 0.

Such a result cannot be established in the case of more than one parameter for the gradient algorithm. 30 Chapters. 3 Example: Two Parameters Consider the plant model where a, b are unknown constants. Let us assume that _y, y, u are available for measurement. We would like to generate online estimates for the parameters a, b. 17) in the SPM form where z = y, 0* = [b, a]T, 0 = [u, —y]T, and z, 0 are available for measurement. Step 2: Parameter Identification Algorithm Estimation Model where 0(0 is the estimate of 0* at time t.

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