Adaptive control systems

Adaptive Control Systems

Adaptive Control
Systems
GANG FENG and ROGELIO LOZANO
OXFORD AUCKLAND BOSTON JOHANNESBURG MELBOURNE NEW DELHI

Newnes
An imprint of Butterworth-Heinemann
Linacre House, Jordan Hill, Oxford OX2 8DP
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First published 1999
#Reed Educational and Professional Publishing Ltd 1999
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British Library Cataloguing in Publication Data
A catalogue record for this book is available from the British Library.
ISBN 07506 3996 2
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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 of relative degree one 46
3.4 The case of arbitrary relative degree 49