(智能化控制)STABLE ADAPTIVE CONTROL AND ESTIMATION FOR NONLINEAR SYSTEMS
STABLE ADAPTIVE CONTROL AND ESTIMATION FOR NONLINEAR SYSTEMSEditor: Simon Haykin
Jeffrey T. Spooner
Sandia National Laboratories
Manfredi Maggiore
University of Toronto
RaGI Ordbfiez
University of Dayton
Kevin M. Passino
The Ohio State University
A key issue in the design of control systems has long been the robustness
of the resulting closed-loop system. This has become even more critical as
control systems are used in high consequence applications in which certain
process variations or failures could result in unacceptable losses. Appropria.
tely, the focus on this issue has driven the design of many robust nonlinear
control techniques that compensate for system uncertainties.
At the same time neural networks and fuzzy systems have found their
wa.y into control applications and in sub-fields of almost every engineering
discipline. Even though their implementations have been rather ad hoc
at times, the resulting performance has continued to excite and capture
the attention of engineers working on today’s “real-world” systems. These
results have largely been due to the ease of implementation often possible
when developing control systems that depend upon fuzzy systems or neural
networks.
In this book we attempt to merge the benefits from these two approaches
to control design (traditional robust design and so called “intelligent control”
approaches). The result is a control methodology that may be verified
with the mathematical rigor typically found in the nonlinear robust control
a,rea while possessing the flexibility and ease of implementation traditionally
associated with neural network and fuzzy system approaches. Within
this book we show how these methodologies may be applied to state feedba’ck,
multi-input multi-output (MIMO) nonlinear systems, output feedba’ck
problems, both continuous and discrete-time aSpplicaNtions, and even
decentralized control. We attempt to demonstra,te how one would apply
these techniques to real-world systems through both simulations and experimental
settings.
This book has been written at a first-year gradua,te level and assumes
some fa,miliarity with basic systems concepts such as state variables and
sta.bility. The book is appropriate for use as a. text book a#nd homework
problems have been included.
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