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1 WHAT IS ADAPTIVE CONTROL?1

1.1 Introduction1

1.2 Linear Feedback3

1.3 Effects of Process Variations9

1.4 Adaptive Schemes19

1.5 The Adaptive Control Problem24

1.6 Applications27

1.7 Conclusions33

Problems34

References38

2 REAL-TIME PARAMETER ESTIMATION41

2.1 Introduction41

2.2 Least Squares and Regression Models42

2.3 Estimating Parameters in Dynamical Systems56

2.4 Experimental Conditions63

2.5 Simulation of Recursive Estimation71

2.6 Prior Information78

2.7 Conclusions82

Problems82

References87

3 DETERMINISTIC SELF-TUNING REGULATORS90

3.1 Introduction90

3.2 Pole Placement Design92

3.3 Indirect Self-tuning Regulators102

3.4 Continuous-Time Self-tuners109

3.5 Direct Self-tuning Regulators112

3.6 Disturbances with Known Characteristics121

3.7 Conclusions128

Problems129

References135

4 STOCHASTIC AND PREDICTIVE SELF-TUNING REGULATORS137

4.1 Introduction137

4.2 Design of Minimum-Variance and Moving-Average Controllers137

4.3 Stochastic Self-tuning Regulators146

4.4 Unification of Direct Self-tuning Regulators156

4.5 Linear Quadratic STR164

4.6 Adaptive Predictive Control168

4.7 Conclusions178

Problems179

References181

5 MODEL-REFERENCE ADAPTIVE SYSTEMS185

5.1 Introduction185

5.2 TheMIT Rule186

5.3 Determination of the Adaptation Gain194

5.4 Lyapunov Theory199

5.5 Design of MRAS Using Lyapunov Theory206

5.6 Bounded-Input,Bounded-Output Stability215

5.7 Applications to Adaptive Control230

5.8 Output Feedback235

5.9 Relations between MRAS and STR243

5.10 Nonlinear Systems245

5.11 Conclusions255

Problems256

References260

6 PROPERTIES OF ADAPTIVE SYSTEMS263

6.1 Introduction263

6.2 Nonlinear Dynamics265

6.3 Adaptation of a Feedforward Gain274

6.4 Analysis of Indirect Discrete-Time Self-tuners280

6.5 Stability of Direct Discrete-Time Algorithms293

6.6 Averaging299

6.7 Application of Averaging Techniques306

6.8 Averaging in Stochastic Systems319

6.9 Robust Adaptive Controllers327

6.10 Conclusions338

Problems338

References343

7.1 Introduction348

7 STOCHASTIC ADAPTIVE CONTROL348

7.2 Multistep Decision Problems350

7.3 The Stochastic AdaptiveProblem352

7.4 Dual Control354

7.5 Suboptimal Strategies362

7.6 Examples365

7.7 Conclusions370

Problems371

References372

8 AUTO-TUNING375

8.1 Introduction375

8.2 PID Control376

8.3 Auto-tuning Techniques377

8.4 Transient Response Methods378

8.5 Methods Based on Relay Feedback380

8.6 Relay Oscillations385

Problems388

8.7 Conclusions388

References389

9 GAIN SCHEDULING390

9.1 Introduction390

9.2 The Principle391

9.3 Design of Gain-Scheduling Controllers392

9.4 Nonlinear Transformations398

9.5 Applications of Gain Scheduling402

9.6 Conclusions416

Problems416

References417

10 ROBUST AND SELF-OSCILLATING SYSTEMS419

10.1 Why Not Adaptive Control?419

10.2 Robust High-Gain Feedback Control419

10.3 Self-oscillating Adaptive Systems426

10.4 Variable-Structure Systems436

Problems442

10.5 Conclusions442

References445

11 PRACTICAL ISSUES AND IMPLEMENTATION448

11.1 Introduction448

11.2 Controller Implementation449

11.3 Controller Design458

11.4 Solving the Diophantine Equation462

11.5 Estimator Implementation465

11.6 Square Root Algorithms480

11.7 Interaction of Estimation and Control487

11.8 Prototype Algorithms490

11.9 Operational Issues493

11.10 Conclusions494

Problems496

References497

12 COMMERCIAL PRODUCTS AND APPLICATIONS499

12.1 Introduction499

12.2 Status of Applications500

12.3 Industrial Adaptive Controllers503

12.4 Some Industrial Adaptive Controllers506

12.5 Process Control517

12.6 Automobile Control527

12.7 Ship Steering529

12.8 Ultrafiltration534

12.9 Conclusions541

References542

13.1 Introduction545

13 PERSPECTIVES ON ADAPTIVE CONTROL545

13.2 Adaptive Signal Processing546

13.3 Extremum Control550

13.4 Expert Control Systems554

13.5 Learning Systems557

13.6 Future Trends559

13.7 Conclusions561

References562

INDEX565