Direct Adaptive Control Algorithms:

1. Front Matter

   Pages i-xxiii

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2. Introduction

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 1-17

3. Basic Theory of Simple Adaptive Control

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 19-82

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

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 83-189

5. Robust Design Procedures

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 191-254

6. Adaptive Control of Time—Varying and Nonlinear Systems

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 255-285

7. Design of Model Reference Adaptive Controllers

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 287-296

8. Case Studies

   • Howard Kaufman, Izhak Bar-Kana, Kenneth Sobel

   Pages 297-354

9. Back Matter

   Pages 355-370

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Suitable either as a reference or as a text for a graduate course in adaptive control systems, this book is a self-contained compendium of easily implementable adaptive control algorithms that have been developed and applied by the authors for over 10 years. These algorithms do not require explicit process parameter identification and have been successfully applied to a wide variety of engineering problems including flexible structure control, blood pressure control and robotics. In general, these algorithms are suitable for a wide class of multiple input-output control systems containing significant uncertainty as well as disturbances.

• adaptive control
• algorithms
• control
• control algorithm
• control system
• robot
• robotics
• uncertainty

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

  Howard Kaufman

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

  Izhak Bar-Kana

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

  Kenneth Sobel

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