Adaptive Control Systems

Adaptive Control Systems Adaptive Control Systems GANG FENG and ROGELIO LOZANO OXFORD AUCKLAND BOSTON JOHANNESBURG MELBOURNE NEW DELHI Newnes An imprint ofButterworth-Heinemann Linacre House, Jordan Hill, Oxford OX2 8DP 225 Wildwood Avenue, Woburn, MA 01801±2041 A division ofReed Educational and Professional Publishing Ltd A member ofthe Reed Elsevier plc group First published 1999 # Reed Educational and Professional Publishing Ltd 1999 All rights reserved. No part ofthis publication may be reproduced in any material form (including photocopying or storing in any medium by electronic means and whether or not transiently or incidentally to some other use of this publication) without the written permission ofthe copyright holder except in accordance with the provisions ofthe Copyright, Designs and Patents Act 1988 or under the terms ofa licence issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Rd, London, England W1P 9HE. Applications for the copyright holder`s written permission to reproduce any part ofthis publication should be addressed to the publishers. British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library. ISBN 07506 3996 2 Library of Congress Cataloguing in Publication Data A catalogue record for this book is available from the Library of Congress. Typeset by David Gregson Associates, Beccles, Su€olk Printed in Great Britain by Biddles Ltd, Guildford, Surrey Contents List of contributors ix Preface xv 1 Adaptive internal model control 1 1.1 Introduction 1 1.2 Internal model control (IMC) schemes: known parameters 2 1.3 Adaptive internal model control schemes 7 1.4 Stability and robustness analysis 12 1.5 Simulation examples 18 1.6 Concluding remarks 19 References 21 2 An algorithm for robust adaptive control with less prior knowledge 23 2.1 Introduction 23 2.2 Problem formulation 25 2.3 Ordinary direct adaptive control with dead zone 27 2.4 New robust direct adaptive control 28 2.5 Robust adaptive control with least prior knowledge 32 2.6 Simulation example 36 2.7 Conclusions 38 References 38 3 Adaptive variable structure control 41 3.1 Introduction 41 3.2 Problem formulation 43 3.3 The case ofrelative degree one 46 3.4 The case ofarbitrary relative degree 49 ... - tailieumienphi.vn