Jeffrey T. Spooner, Manfredi Maggiore, Raúl Ordóñez, Kevin M. Passino, "Stable Adaptive Control and Estimation for Nonlinear Systems"

 

John Wiley & Sons, Inc.,
New York, 2002
ISBN 0-471-41546-4

 

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)

 

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