Direct Adaptive Control Algorithms

1. Front Matter

   Pages i-xxvii

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2. Introduction

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 1-18

3. Basic Theory of Simple Adaptive Control

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 19-76

4. Extensions of the Basic Adaptive Algorithm: Alleviation of the SPR Constraints

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 77-179

5. Robust Design Procedures

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 181-240

6. Adaptive Control of Time-Varying and Nonlinear Systems

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 241-291

7. Design of Model Reference Adaptive Controllers

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 293-343

8. Case Studies

   • Howard Kaufman, Itzhak Barkana, Kenneth Sobel

   Pages 345-407

9. Back Matter

   Pages 409-424

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Suitable either as a reference for practicing engineers or as a text for a graduate course in adaptive control systems, this book is a self -contained compendium of readily implementable adaptive control algorithms that have been developed and applied by the authors for over fifteen years. These algorithms, which do not require the user to identify the process parameters explicitly, have been successfully applied to a wide variety of engineering problems including flexible structure control, blood pressure control, and robotics; they are suitable for a wide variety of multiple input-output control systems with uncertainity and external disturbances. The text is intended to enable anyone with knowledge of basic linear multivariable systems to adapt the algorithms to problems in a wide variety of disciplines. Thus, in addition to developing the theoretical details of the algorithms presented, the text gives considerable emphasis to design of algorithms and to representative applications in flight control, flexible structure control, robotics, and drug-infusion control. Engineers can thus use and test these algorithms in practical problems. This second edition has been corrected and updated throughout. It makes use of MATLAB programs for some of the illustrative examples; these programs are described in the text and can be obtained from the MathWorks file server.

• MATLAB
• PUMA
• adaptive control
• algorithms
• control
• control system
• nonlinear system
• robot
• robotics
• stability
• uncertainty

• Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, USA

  Howard Kaufman

• Department of Electrical Engineering, Drexel University, Philadelphia, USA

  Itzhak Barkana

• Department of Electrical Engineering, City College of New York, New York, USA

  Kenneth Sobel

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