By Howard Kaufman
Suitable both as a reference or as a textual content for a graduate direction in adaptive keep an eye on structures, this e-book is a self-contained compendium of simply implementable adaptive regulate algorithms which were constructed and utilized by means of the authors for over 10 years. those algorithms don't require specific approach parameter identity and feature been effectively utilized to a large choice of engineering difficulties together with versatile constitution keep an eye on, blood strain regulate and robotics. regularly, those algorithms are compatible for a large type of a number of input-output regulate structures containing major uncertainty in addition to disturbances.
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Additional info for Direct Adaptive Control Algorithms: Theory and Applications
This class of algorithms requires neither full state access nor satisfaction of the perfect model following conditions. Asymptotic stability is ensured provided that the plant is almost strictly positive real (ASPR). 4). 3. Background on Adaptive Control Algorithms 15 The appealing characteristics of this simple adaptive control algorithm over indirect and other direct model reference adaptive methods include: • lack of dependence on plant parameter estimates, • applicability to MIMO plants, • sufficiency conditions which are independent of plant dimension, • control calculation which does not require adaptive observers or full state feedback, • ease of implementation, and • successful experimental validation.
3. This section may of course, be omitted by any reader who already has an understanding of these concepts. 5 for a wider class of commands. 1 Model Following Model reference control is based upon matching the response of a system or "plant" to that of a reference model or "model". Plant design specifications are often incorporated within the model such that a step input to the model would cause its outputs to respond with the specified rise time, overshoot, and settling time. The reference inputs are fed into the model, which responds in accordance with the design specifications that have been built into it.
Assumptions 1 or 2 above imply that either the velocities are bounded or, that the system can not pass an infinite distance in a finite amount of time. Notice that only one of the conditions above is required, and Assumption 2, allows for tests of stability when f(x, t) is not necessarily bounded, such as, for example, in the case when f(x, t) = g(x) + h(x)u(t) and u(t) contains a finite number of impulse functions. Let V(x, t) be a differentiable function bounded from below. Notice that V(x, t) is not required to be positive definite.