Goodwin Robust Adaptive Control

Proceedings of the IFAC Workshop, Newcastle, Australia, 22-24 August 1988
1. Auflage 2014
ISBN: 978-1-4832-9824-5
Verlag: Elsevier Science & Techn.
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 272 Seiten, Web PDF

Reihe: IFAC Workshop Series

The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. The proceedings also focused on the value of such practical features as filtering, normalization, deadzones and unification of robust control and adaptation.

Autoren/Hrsg.

Goodwin, G. C.

Inhaltsverzeichnis

1;Front Cover;1
2;Robust Adaptive Control;4
3;Copyright Page;5
4;Table of Contents;8
5;IFAC WORKSHOP ON ROBUST ADAPTIVE CONTROL;6
6;Chapter 1. A Prospect of Adaptive Control;12
6.1;INTRODUCTION;12
6.2;CONCLUSIONS;14
6.3;REFERENCES;15
7;Chapter 2. Robustness of Adaptive Observers forTime Varying Systems;16
7.1;I. INTRODUCTION;16
7.2;II. THE KREISSELMEIER ADAPTIVE ESTIMATOR;16
7.3;III. THE LUDERS-NARENDRA ADAPTIVE ESTIMATOR;17
7.4;IV. THE CASE OF MATRIX REGRESSORS;19
7.5;V. DISCCUSION OF THE ASYMPTOTIC BOUNDS;19
7.6;REFERENCES;20
8;Chapter 3. Parameter Convergence and Stability inContinuous-time Indirect Adaptive Control;22
8.1;INTRODUCTION;22
8.2;INDIRECT ADAPTIVE CONTROLLER CONFIGURATION;22
8.3;PARAMETER CONVERGENCE AND STABILITY;23
8.4;CONCLUSIONS;24
8.5;ACKNOWLEDGEMENTS;24
8.6;REFERENCES;24
9;Chapter 4. Chaotic Dynamics in Adaptive Systems;26
9.1;INTRODUCTION;26
9.2;THE ADAPTIVE PROBLEM AND STABILITY;26
9.3;CHAOTIC ATTRACTORS,FINITE PARAMETER DRIFT;28
9.4;THE INFINITE DRIFT PROBLEM,MODIFICATIONS;28
9.5;CONCLUSION;29
9.6;REFERENCES;30
10;Chapter 5. Distributional Properties of Adaptive Estimators;32
10.1;INTRODUCTION;32
10.2;1. BIMBOM PROPERTIES OF THE LMS ALGORITHM;33
10.3;2. ESCAPE TIME ESTIMATES FOR THE LMSALGORITHM;34
10.4;3. CONCLUSIONS;36
10.5;REFERENCES;37
11;Chapter 6. Bursting Discovered in Adaptive Signal Processing:Feedback to Blame;38
11.1;Abstract;38
11.2;1. Overview;38
11.3;2. Bursting in a Simple Model Reference Adaptive ControlSetting;39
11.4;3. The Single Adaptive Hybrid;40
11.5;4. The Double Adaptive Hybrid;41
11.6;5. A Simple Decentralized Adaptive Controller;42
11.7;6. Conclusion;43
11.8;7. References;43
12;Chapter 7. Robustness and Eigenvalue Analysis of Least SquaresEstimators for Parameter Adaptive Control;44
12.1;INTRODUCTION;44
12.2;STABILITY AND OPTIMALITY MARGINS OFCONSTANT GAIN OPTIMAL OBSERVERS;44
12.3;THE LEAST-SQUARES ESTIMATOR AS OPTIMAL OBSERVER;45
12.4;STABILITY AND OPTIMALITY MARGINSFOR LEAST SQUARES PARAMETER ESTIMATORS;46
12.5;ROBUSTNESS AND ADAPTATION;47
12.6;CONCLUSIONS;48
12.7;REFERENCES;48
12.8;APPENDIX;48
13;Chapter 8. Adaptive and Robust Cascade Schemes forThyristor Driven DC-Motor Speed Control;50
13.1;INTRODUCTION;50
13.2;THE PLANT TO BE CONTROLLED;51
13.3;CONTROLLERS STRUCTURES AND IMPLEMENTATION;51
13.4;EXPERIMENTAL RESULTS AND COMPARISONS;51
13.5;CONCLUSION;53
13.6;REFERENCES;53
13.7;ACKNOWLEDGEMENT;54
14;Chapter 9. Performance Enhancements of Two-Degree-of-FreedomControllers via Adaptive Techniques;56
14.1;1. INTRODUCTION;56
14.2;2. TWO-DEGREE OF FREEDOM CONTROLLERS;56
14.3;3. THE OPTIMIZATION TASK;57
14.4;4. ADAPTIVE TRACKING;59
14.5;5. SIMULATION RESULTS;60
14.6;6. CONCLUSIONS;60
14.7;REFERENCES;60
15;Chapter 10. Adaptive Long Range Predictive Control of Sewer Networks;62
15.1;1. INTRODUCTION;62
15.2;2. SEWER INFLOW FORECASTING;62
15.3;3. SEWER NETWORK CONTROL;63
15.4;4. EXAMPLE APPLICATION;65
15.5;5. CONCLUSION;66
15.6;6. ACKNOWLEDGEMENTS;66
15.7;7. REFERENCES;66
16;Chapter 11. Expert System Approach of Industrial ProcessAdaptive Control;68
16.1;INTRODUCTION;68
16.2;THE RECENT DEVELOPMENT OFINTELLIGENT CONTROL;68
16.3;THE GENERAL STRUCTURE OF EXPERTINTELLIGENT CONTROL;69
16.4;DESIGN OF A DISTRIBUTED EXPERT INTELLIGENT CONTROL SYSTEM;71
16.5;CONCLUSIONS;72
16.6;REFERENCE;72
17;Chapter 12. On the Robustness of Discrete-Time Indirect Adaptive(Linear) Controllers;74
17.1;1. INTRODUCTION;74
17.2;2. PROBLEM FORMULATION;75
17.3;3. STABILITY ANALYSIS;77
17.4;4 - A SOLUTION TO THE ADMISSIBILITY PROBLEM;78
17.5;5. CONCLUSION;79
17.6;REFERENCE;79
18;Chapter 13. Model Reference Robust Adaptive Controlwithout a Prior Knowledge of the HighFrequency Gain;80
18.1;I. INTRODUCTION;80
18.2;II. PLANT DESCRIPTION;80
18.3;III. CONTROLLER STRUCTURE;81
18.4;IV. PARAMETER ADAPTATION ALGORITHM;81
18.5;V. STABILITY ANALYSIS;82
18.6;REFERENCES;83
19;Chapter 14. Regularized Pole Placement Adaptive Control;84
19.1;1. INTRODUCTION;84
19.2;2. POLE PLACEMENT DESIGN;84
19.3;3. NUMERICAL ASPECTS;85
19.4;4. NUMERICAL SIMULATIONS;86
19.5;5. CONCLUSION;88
19.6;6. REFERENCES;88
20;Chapter 15. Robust Discrete STC Design by Using Intermittent Adaption;90
20.1;INTRODUCTION;90
20.2;SELF-TUNING CONTROL;90
20.3;CONCLUSIONS;94
20.4;References;94
21;Chapter 16. Model Reference Adaptive Control Using an F.I.R. Controller;96
21.1;INTRODUCTION;96
21.2;LMS ADAPTIVE EQUALISATION/IDENTIFICATION;96
21.3;OPEN-LOOP MODEL REFERENCE ADAPTIVE CONTROL;97
21.4;CLOSED LOOP MODEL REFERENCE ADAPTIVE CONTROL;97
21.5;LMS ADAPTIVE CONTROL USING THE TMS320C20;98
21.6;CONCLUSIONS;98
21.7;ACKNOWLEDGEMENT;98
21.8;REFERENCE;98
22;Chapter 17. Oscillatory Behaviour and Fixes in Adaptive Linear Control:A Worked Example;104
22.1;1 INTRODUCTION;104
22.2;2 ADAPTIVE P CONTROLLER;104
22.3;3 PERSISTENT EXCITATION;105
22.4;4 DEAD-ZONE;106
22.5;5 INTERNAL MODEL;107
22.6;References;108
23;Chapter 18. Adaptive Control via Finite Modelling and Robust Control;110
23.1;1 Introduction;110
23.2;2 Structure of the Adaptive Controller;111
23.3;3 Review of [2];111
23.4;4 The Effect of Feedback and Exogenous Inputs;112
23.5;5 Algorithm Modifications;113
23.6;6 Concluding Remarks;114
23.7;References;114
24;Chapter 19. Adaptive PID Regulators. Ambitions and Limitations;116
24.1;1.INTRODUCTION;116
24.2;2. A BENCH-MARK FOR ADAPTIVE CONTROL OF"EASY"PROCESSES;117
24.3;3 - AN ADAPTIVE P.I. REGULATOR BASED ON A SPECIFIC CLASS OF MODELS;118
24.4;4.SIMULATION RESULTS;119
24.5;5.CONCLUSION;120
24.6;REFERENCES;120
25;Chapter 20. Laguerre Functions in Stochastic Self-tuning Control;122
25.1;INTRODUCTION;122
25.2;MODELLING USING LAGUERRE FUNCTIONS;122
25.3;SELF-TUNING CONTROL;123
25.4;PRACTICAL ASPECTS AND SIMULATIONS;125
25.5;CONCLUSIONS;125
25.6;Acknowledgements;126
25.7;REFERENCES;126
26;Chapter 21. Multivariable Adaptive Control with the Generalized Analytical Predictor;128
26.1;INTRODUCTION;128
26.2;MODEL STRUCTURE;128
26.3;MULTIVARIABLE CONTROLLER DESIGN;128
26.4;MULTIVARIABLE DISTURBANCE PREDICTOR;130
26.5;SIMULATION RESULTS;130
26.6;CONCLUSIONS;131
26.7;REFERENCES;131
27;Chapter 22. Robust Certainty Equivalance - A New Principle forAdaptive Control;134
27.1;INTRODUCTION;134
27.2;ESTIMATION OF PARAMETER INTERVALS;135
27.3;ROBUST CERTAINTY EQUIVALENCE;137
27.4;DISCUSSION;139
27.5;ACKNOWLEDGMENT;139
27.6;REFERENCES;139
28;Chapter 23. A Robust Self-tuned Controller Based onState-Space Approach;140
28.1;1. Introduction;140
28.2;2. Problem Formulation;141
28.3;3. P+I MSEV Controller for Known Systems;141
28.4;4. The Adaptive P+I MSEV Controller;142
28.5;5. Examples;143
28.6;6. A SISO System;143
28.7;6. Conclusion;145
28.8;References;145
29;Chapter 24. Adaptive Stablization of Linear Systemswith Singular Perturbations;146
29.1;1 Introduction;146
29.2;2 System and Assumptions;147
29.3;3 Structure of the Closed Loop System;147
29.4;4 A Preliminary Lemma;148
29.5;5 Construction of Switching Compensator;148
29.6;6 Main Result on Robust Adaptive Stabilization;148
29.7;7 An Illustrative Example;149
29.8;8 Conclusion;150
29.9;References;150
30;Chapter 25. Design of Robust Adaptive Digital Set-Point Tracking P1 Controllers for Nonminimum-Phase Multivariable Plants;152
30.1;INTRODUCTION;152
30.2;ANALYSIS;152
30.3;ILLUSTRATIVE EXAMPLE;153
30.4;CONCLUSION;154
30.5;REFERENCES;154
31;Chapter 26. Adaptive Control of Discrete Linear Time Varying Systems;158
31.1;INTRODUCTION;158
31.2;THE PLANT MODEL;158
31.3;STABILITY ANALYSIS;159
31.4;PARAMETER ESTIMATION;159
31.5;THE CONTROL LAW;159
31.6;CONCLUSION;160
31.7;REFERENCES;160
32;Chapter 27. Robustness Analysis of Adaptive Control SystemsThe Stability Margin Approach;162
32.1;1 INTRODUCTION;162
32.2;2. L2 STABLE ADAPTIVE CONTROL ALGORITHMS;162
32.3;3. ROBUSTNESS ANALYSIS OF A SIMPLE ADAPTIVE CONTROL ALGORITHM WITH NORMALIZATION;164
32.4;4. CONCLUSIONS AND FURTHER RESEARCHES;165
32.5;Reference;165
32.6;APPENDIX; PROOFS OF LEMMAS AND THEOREMS;165
33;Chapter 28. Robustness Evidence on Multi-Predictor LQ Self-Tuners;168
33.1;1 Introduction;168
33.2;2 The basic MUSMAR algorithm;168
33.3;3 Parameter convergence and directionalforgetting;169
33.4;4 Single predictor algorithms;169
33.5;5 A convergence result.;169
33.6;6 Simulations;170
33.7;7 Conclusive remarks;172
33.8;References;172
34;Chapter 29. Robust Implicit Adaptive Control for Nonminimumphase Plants;174
34.1;INTRODUCTION;174
34.2;IMPLICIT PREDICTIVE MODELLING FOR DIRECT ADAPTIVE GMV CONTROL;175
34.3;IMPLICIT PREDICTIVE MODELLING FORDIRECT ADAPTIVE PID CONTROL;176
34.4;SIMULATION EXPERIMENTS;177
34.5;CONCLUSIONS;179
34.6;ACKNOWLEDGEMENTS;179
34.7;REFERENCES;179
34.8;APPENDICES;179
35;Chapter 30. Absolute Stability and Robust Discrete Adaptive Control;182
35.1;I INTRODUCTION;182
35.2;II THE ABSOLUTE STABILITY PROBLEM IN DISCRETE-TIME SYSTEMS;182
35.3;Ill THE ROBUST DISCRETE ADAPTIVE ALGORITHM;183
35.4;V EXAMPLES;184
35.5;VI CONCLUSIONS;185
35.6;REFERENCES;185
36;Chapter 31. Robustness Analysis of Self-Tuning Adaptive Controllers when the Stochastic Gradient Algorithm is Used;188
36.1;1. INTRODUCTION;188
36.2;2. PROBLEM STATEMENT AND ANALYSIS OF ROBUSTNESS OF STC;189
36.3;3. Concluding Remarks;192
36.4;REFERENCES;192
37;Chapter 32. Implementation of Parameter Estimation Algorithms;194
37.1;1 INTRODUCTION;194
37.2;2 GENERAL IMPLEMENTATION ASPECTS;195
37.3;3 DIGITAL SIGNAL PROCESSOR IMPLEMENTATIONS;195
37.4;4 CONCLUSIONS;198
37.5;5 REFERENCES;199
38;Chapter 33. A Long Range Predictive Adaptive Control:Performance Enhancements and Experimental Evaluation;200
38.1;1. INTRODUCTION;200
38.2;2. THE DESIGN FRAMEWORK;200
38.3;3. ADAPTIVE CONTROL ALGORITHM;201
38.4;4. EXPERIMENTAL EVALUATION;202
38.5;5. CONCLUSION;203
38.6;REFERENCES;203
39;Chapter 34. Robust Multivariable Adaptive Process Control;206
39.1;1. INDRODUCTION;206
39.2;2. PROCESS;206
39.3;3. SAMPLING TIME;207
39.4;4. ARMAX-MODEL STRUCTURE;207
39.5;5. IDENTIFICATION;207
39.6;6. CONTROLLER;207
39.7;7. SIMULATION MODEL;208
39.8;8. OPEN LOOP SIMULATION;208
39.9;8. OPEN LOOP IDENTIFICATION;209
39.10;9. Close loop simulations;209
39.11;10. CONCLUSION.;209
39.12;REFERENCES;209
40;Chapter 35. Robust Stochastic Adaptive Control for Non-minimum Phase Systems;212
40.1;1. INTRODUCTION;212
40.2;2. STOCHASTIC SYSTEMS AND IDENTIFICATION ALGORITHM;212
40.3;3. ROBUSTNESS OF PARAMETER ESTIMATION;213
40.4;REFERENCES;216
41;Chapter 36. Robust Recursive Identification of Multidimensional Linear Regression Models;218
41.1;1. INTRODUCTION;218
41.2;2. ALGORITHM DESCRIPTION AND MAIN RESULTS;218
41.3;3. PRELIMINARY THEORY;219
41.4;4. PROOF OF THEOREMS;221
41.5;5. CONCLUSIONS;222
41.6;REFERENCES;222
42;Chapter 37. Robust Amplitude Constrained Adaptive Control;224
42.1;1. INTRODUCTION;224
42.2;2. ROBUST AMPLITUDE CONSTRAINED ADAPTIVE CONTROL;224
42.3;3. STABILITY ANALYSIS;225
42.4;4. EXAMPLES;227
42.5;5. CONCLUSIONS;227
42.6;REFERENCES;228
43;Chapter 38. Frequency Domain Adaptive Control;230
43.1;INTRODUCTION;230
43.2;FREQUENCY DOMAIN ESTIMATION;230
43.3;FREQUENCY DOMAIN CONTROLLER DESIGN;232
43.4;STABILITY ANALYSIS;233
43.5;CONCLUSION;234
43.6;REFERENCES;234
44;Chapter 39. Steady State and Parameter Tracking Properties of Self-tuning Minimum Variance Regulators;236
44.1;1. INTRODUCTION;236
44.2;2. PROPERTIES OF THE SELF-TUNING REGULATOR;236
44.3;3. SIMPLIFICATION OF THE IDENTIFICATION ALGORITHM;237
44.4;4. ODE ANALYSIS;237
44.5;5. STEADY STATE PROPERTIES OF STR;238
44.6;6. TRACKING PROPERTIES OF STR;238
44.7;7. EXTENSION TO ARMAX SYSTEMS;239
44.8;8. RESULTS OF COMPUTER SIMULATION;239
44.9;9. REFERENCES;240
45;Chapter 40. Robust Design of Model Reference Adaptive Control Based on Cost Function on Frequency Domain;242
45.1;1 INTRODUCTION;242
45.2;2 PROBLEM STATEMENT;242
45.3;3 AJOSIMENT OF CONTROLLER PARAMETERS ONFREQUENCY DOMAIN;243
45.4;4 DESIGN OF NEW INDIRECT ADAPTIVE CONTROL SYSTEM WITH FIXED COMPENSATOR;244
45.5;5 APPLICATION;245
45.6;6 CONCLUSIONS;246
45.7;7 REFERENCES;246
46;Chapter 41. MultiRate Discrete Time Model Reference Adaptive Control;248
46.1;1. INTRODUCTION;248
46.2;2. DISCRETIZED PLANT MODEL WITH 8-0PERAT0R;248
46.3;3. MULTIRATE SCHEME FOR MRAC;249
46.4;4. ROBUSTNESS TO MODEL ERROR;250
46.5;5. SIMULATION RESULTS;251
46.6;6. CONCLUSION;251
46.7;REFERENCES;251
47;Chapter 42. On the Robustness of Stochastic Adaptive Control;254
47.1;1. INTRODUCTION;254
47.2;2. PROBLEM FORMULATION;254
47.3;3. ROBUSTNESS FORMULATIONS;255
47.4;4. ESCAPE TIME ANALYSIS;256
47.5;5. ESCAPE TIMES FOR ADAPTIVE CONTROL;257
47.6;6. CONCLUSIONS;257
47.7;7. REFERENCES;258
48;Chapter 43. A Self-Tuning Control Algorithm in the Presence of Plant-Model Order Mismatch;260
48.1;INTRODUCTION;260
48.2;SELF-TUNING CONTROL ALGORITHM;260
48.3;STABILITY ANALYSIS;261
48.4;SIMULATIO;262
48.5;CONCLUSIONS;263
48.6;REFERENCES;263
48.7;APPENDIX:;263
49;Chapter 44. Robust Model Reference Adaptive Control froma Parameter Estimation Aspec;266
49.1;INTRODUCTION;266
49.2;ROBUST MODEL REFERENCE ADAPTIVECONTROL ALGORITHM;266
49.3;CONVERGENCE OF THE ADAPTIVE SYSTEM;268
49.4;ROBUSTNESS ANALYSIS OF THE PARAMETER ESTIMATE;268
49.5;SIMULATION ILLUSTRATIONS;270
49.6;CONCLUSIONS;270
49.7;REFERENCE;270
50;AUTHOR INDEX;272