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.
John Wiley & Sons, Inc.,
|
Preface (XV) |
1. Introduction (1) |
1.1. Overview (1) |
1.2. Stability and Robustness (4) |
1.3. Adaptive Control: Techniques and Properities (4) |
1.4. The Role of Neural Networks and Fuzzy Systems (6) |
1.5. Summary |
I Foundations (11) |
2. Mathematical Foundations (13) |
2.1. Overview (13) |
2.2. Vectors, Matrices, and Signals: Norms and Properties (13) |
2.3. Functions: Continuity and Convergence (21) |
2.4. Characterizations of Stability and Boundedness (24) |
2.5. Lyapunov's Direct Method (31) |
2.6. Input-to-State Stability (38) |
2.7. Special Classes of Systems (41) |
2.8. Summary (45) |
2.9. Exercises and Design Problems (45) |
3. Neural Networks and Fuzzy Systems (49) |
3.1. Overview (49) |
3.2. Neural Networks (50) |
3.3. Fuzzy Systems (60) |
3.4. Summary (69) |
3.5. Exercises and Design Problems (69) |
4. Optimization for Training Approximators (73) |
4.1. Overview (73) |
4.2. Problem Formulation (74) |
4.3. Linear Least Squares (76) |
4.4. Nonlinear Least Squares (84) |
4.5. Summary (101) |
4.6. Exercises and Design Problems (102) |
5. Function Approximation (105) |
5.1. Overview (105) |
5.2. Function Approximation (106) |
5.3. Bounds on Approximator Size (119) |
5.4. Ideal Parameter Set and Representation Error (122) |
5.5. Linear and Nonlinear Approximator Structures (123) |
5.6. Discussion: Choosing the Best Approximators (124) |
5.7. Summary (130) |
5.8. Exercises and Design Problems (130) |
II State-Feedback Control (133) |
6. Control of Nonlinear Systems (135) |
6.1. Overview (135) |
6.2. The Error System and Kyapunov Candidate (137) |
6.3. Canonical System Representations (141) |
6.4. Coping with Uncertainties: Nonlinear Damping (159) |
6.5. Coping with Partial Information: Dynamic Normalization (163) |
6.6. Using Approximators in Controllers (165) |
6.7. Summary (171) |
6.8. Exercises and Design Problems (172) |
7. Direct Adaptive Control (179) |
7.1. Overview (179) |
7.2. Lyapunov Analysis and Adjustable Approximators (180) |
7.3. The Adaptive Controller (184) |
7.4. Inherent Robustness (201) |
7.5. Improving Performance (203) |
7.6. Extension to Nonlinear Parametrization (206) |
7.8. Exercises and Design Problems (210) |
8. Indirect Adaptive Control (215) |
8.1. Overview (215) |
8.2. Uncertainties Satisfying Matching Conditions (215) |
8.3. Beyond the Matching Condition (236) |
8.4. Summary (254) |
8.5. Exercises and Design Problems (254) |
9. Implementations and Comparative Studies (257) |
9.1. Overview (257) |
9.2. Control of Input-Output Feedback Linearizable Systems (258) |
9.3. The Rotational Inverted Pendulum (263) |
9.4. Modeling and Simulation (264) |
9.5. Two Non-Adaptive Controllers (266) |
9.6. Adaptive Feedback Linearization (271) |
9.7. Indirect Adaptive Fuzzy Control (274) |
9.8. Direct Adaptive Fuzzy Control (285) |
9.9. Summary (299) |
9.10. Exercises and Design Problems (300) |
III Output-Feedback Control (305) |
10. Output-Feedback Control (307) |
10.1. Overview (307) |
10.2. Partial Information Framework (308) |
10.3. Output-Feedback Systems (310) |
10.4. Separation Principle for Stabilization (317) |
10.5. Extension to MIMO Systems (337) |
10.6. How to Avoid Adding Integrators (339) |
10.7. Coping with Uncertainties (347) |
10.8. Output-Feedback Tracking (350) |
10.9. Summary (359) |
10.10 Excercises and Design Problems (360) |
11. Adaptive Output Feedback Control (363) |
11.1. Overview (363) |
11.2. Control of Systems in Adaptive Tracking Form (364) |
11.3. Separation Principle for Adaptive Stabilization (371) |
11.4. Separation Principle for Adaptive Tracking (387) |
11.5. Summary (398) |
11.6. Exercises and Design Problems (398) |
12. Applications (401) |
12.1. Overview (401) |
12.2. Nonadaptive Stabilization: Jet Engine (402) |
12.3. Adaptive Stabilization: Electromagnet Control (411) |
12.4. Tracking: VTOL Aircraft (424) |
12.5. Summary (432) |
12.6. Exercises and Design Problems (433) |
IV Extensions (435) |
13. Discrete-Time Systems (437) |
13.1. Overview (437) |
13.2. Discrete-Time Systems (438) |
13.3. Static Controller Design (444) |
13.4. Robust Control of Discrete-Time Systems (454) |
13.5. Adaptive Control (458) |
13.6. Summary (470) |
13.7. Exercises and Design Problems (470) |
14. Decentralized Systems (473) |
14.1. Overview (473) |
14.2. Decentralized Systems (474) |
14.3. Static Controller Design (476) |
14.4. Adaptive Controller Design (485) |
14.5. Summary (495) |
14.6. Exercises and Design Problems (496) |
15. Perspectives on Intelligent Adaptive Systems (499) |
15.1. Overview (499) |
15.2. Relations to Conventional Adaptive Control (500) |
15.3. Genetic Adaptive Systems (501) |
15.4. Expert Control for Adaptive Systems (503) |
15.5. Planning Systems for Adaptive Control (504) |
15.6. Intelligent and Autonomous Control (506) |
15.7. Summary (509) |
For Further Study (511) |
Bibliography (521) |
Index (541) |
© 2002-2004 Centralny Instytut Ochrony Pracy - Państwowy Instytut Badawczy www.anc.pl, www.ciop.pl