Adaptive Dual Control: Theory and Applications

Copertina anteriore
Springer Science & Business Media, 20 apr 2004 - 234 pagine
0 Recensioni

This monograph demonstrates how the performance of various well-known adaptive controllers can be improved significantly using the dual effect. The modifications to incorporate dual control are realized separately and independently of the main adaptive controller without complicating the algorithms. A new bicriterial approach for dual control is developed and applied to various types of popular linear and nonlinear adaptive controllers. Practical applications of the designed controllers to several real-time problems are presented. This monograph is the first book providing a complete exposition on the dual control problem from the inception in the early 1960s to the present state of the art aiming at students and researchers in adaptive control as well as design engineers in industry.

 

Cosa dicono le persone - Scrivi una recensione

Nessuna recensione trovata nei soliti posti.

Indice

1 INTRODUCTION
1
2 FUNDAMENTALS OF DUAL CONTROL
6
212 Formal Solution Using Stochastic Dynamic Programming
7
23 Simple Example of Application of the Bicriterial Approach
9
24 Simple Example of a ContinuousTime Dual Control System
11
25 General Structure of the Adaptive Dual Control System
12
3 SURVEY OF DUAL CONTROL METHODS
14
32 Dual Effect and Neutral Systems
20
94 An Example for Applying the Method to Derive the Dual Version of an STR
111
95 Simulation Examples for Controllers with Dual Modification
112
PolePlacement Controller
113
PolePlacement Controller for a Plant with Integral Behaviour
116
10 DUAL POLEPLACEMENT AND LQG CONTROLLERS WITH INDIRECT ADAPTATION
119
102 Dual Modification of the Controller
124
103 Computation of the Covariance Matrix of the Controller Parameters
126
104 Simplified Dual Versions of the Controllers
128

33 Simplifications of the Original Dual Control Problem
24
34 Implicit Dual Control
26
35 Explicit Dual Control
27
36 Brief History of Dual Control and its Applications
32
4 BICRITERIAL SYNTHESIS METHOD FOR DUAL CONTROLLERS
33
412 Simulation Example of Parameter Estimation
35
42 The Bicriterial Synthesis Method and the Dual Version of the STR
37
43 Design of the Dual Version of the GMV Controller
40
44 Computer Simulations
45
443 GMV Controller for the Plant with Time Delay d7
49
45 Summary
53
5 CONVERGENCE AND STABILITY OF ADAPTIVE DUAL CONTROL
55
53 Global Stability and Convergence of the System
57
54 Conclusion
61
6 DUAL POLEPLACEMENT CONTROLLER WITH DIRECT ADAPTATION
62
61 Design of a Direct Adaptive PolePlacement Controller Using the Standard Approach
63
62 Design of Dual PolePlacement Controller with Direct Adaptation
66
63 Simulation Examples
69
Unstable Minimum Phase Plant
70
Unstable Nonminimum Phase Plant
71
633 Comparison of Controllers Based on Standard and Adaptive Dual Approaches
72
7 DUAL MODEL REFERENCE ADAPTIVE CONTROL MRAC
75
72 Design of Dual MRAC DMRAC
78
73 Controller for Nonminimum Phase Plants
80
74 Standard and Dual MRAC Schemes DMRAC
81
75 Simulations and Comparisons
82
8 DUAL CONTROL FOR MULTIVARIABLE SYSTEMS IN STATE SPACE REPRESENTATION
85
82 Synthesis of Adaptive Dual Controllers
88
83 Implementation of the Designed Controller and the Relation to the Linear Quadratic Control Problem
90
84 Simulation Results for Controllers Based on Lyapunov Functions
91
85 Partial Certainty Equivalence Control for Linear Systems
94
86 Design of Dual Controllers Using the Partial Certainty Equivalence Assumption and Bicriterial Optimization
97
87 Simulation Examples
98
Nonminimum Phase Plant
101
9 A SIMPLIFIED APPROACH TO THE SYNTHESIS OF DUAL CONTROLLERS WITH INDIRECT ADAPTATION
105
92 Controllers for SIMO Systems
109
93 Controllers for SISO Systems with InputOutput Models
110
11 APPLICATION OF DUAL CONTROLLERS TO THE SPEED CONTROL OF A THYRISTORDRIVEN DCMOTOR
130
112 Application Results for the PolePlacement Controller
132
12 APPLICATION OF DUAL CONTROLLERS TO A LABORATORY SCALE VERTICAL TAKEOFF AIRPLANE
135
1211 Modification for Cautious and Dual Control
136
1212 Modification for Nonminimum Phase Systems
139
122 Experimental Setup and Results
140
1222 Comparison of Standard and Dual Control
142
13 ROBUSTNESS AGAINST UNMODELED EFFECTS AND SYSTEM STABILITY
148
132 Design of the Dual Controller
149
1322 Incorporation of the Dual Controller
151
133 Robustness against Unmodeled Nonlinearity and System Stability
154
1332 Stability of the Adaptive Control System
156
14 DUAL MODIFICATION OF PREDICTIVE ADAPTIVE CONTROLLERS
160
1412 Cautious and Dual MAC
161
142 Generalized Predictive Control GPC
162
1422 Generalized Predictive Controller GPC
163
1423 Dual Modification of the GPC
164
143 Other Predictive Controllers
165
15 SIMULATION STUDIES AND REALTIME CONTROL USING MATLABSIMULINK
166
1512 Direct Adaptive PolePlacement Controller
171
1513 Model Reference Adaptive Controller
177
152 Simulation Studies of Adaptive Controllers Using MATLAB SIMULINK
179
153 RealTime Robust Adaptive Control of a Hydraulic Positioning System Using MATLABSIMULINK
188
1532 Program Listing
192
154 RealTime ANNBased Adaptive Dual Control of a Hydraulic Drive
195
1542 ANNBased Design of a Standard Adaptive LQ Controller
197
1543 Extension to the Design of the ANNBased Adaptive Dual Controller
199
1544 RealTime Experiments
203
16 CONCLUSION
206
Derivation of the PCE Control for Linear Systems
207
Proof of Lemmas and Theorem of Stability of Robust Adaptive Dual Control
210
MATLAB Programs for Solving the Diophantine Equation
214
Calculation of Mathematical Expectation
217
REFERENCES
220
INDEX
229
Copyright

Altre edizioni - Visualizza tutto

Parole e frasi comuni

Riferimenti a questo libro

Informazioni bibliografiche