Misją Instytutu jest dzialalność naukowo-badawcza prowadząca do nowych rozwiązań technicznych i organizacyjnych użytecznych w kształtowaniu warunków pracy zgodnych z zasadami bezpieczeństwa pracy i ergonomii oraz ustalanie podstaw naukowych do właściwego ukierunkowywania polityki społeczno-ekonomicznej państwa w tym zakresie.
Springer-Verlag London Limited, 1998 ISBN 3-540-76187-X
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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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