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文件名称：Model Free Adaptive Control Theory and Applications
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更新时间：2023-08-16 16:55:00
Adaptive Control 控制理论
by Hou, Zhongsheng Jin, Shangtai
Introduction ...........................................................................................1
1.1 Model-Based Control ........................................................................1
1.1.1 Modeling and Identification .................................................1
1.1.2 Model-Based Controller Design ...........................................3
1.2 Data-Driven Control .........................................................................5
1.2.1 Definition and Motivation of Data-Driven Control .............6
1.2.2 Object of Data-Driven Control Methods..............................7
1.2.3 Necessity of Data-Driven Control Theory
and Methods ........................................................................8
1.2.4 Brief Survey on Data-Driven Control Methods..................10
1.2.5 Summary of Data-Driven Control Methods.......................15
1.3 Preview of the Book.........................................................................16
2 Recursive Parameter Estimation for Discrete-Time Systems................19
2.1 Introduction ....................................................................................19
2.2 Parameter Estimation Algorithm for Linearly
Parameterized Systems.....................................................................20
2.2.1 Projection Algorithm..........................................................21
2.2.2 Least-Squares Algorithm ....................................................22
2.3 Parameter Estimation Algorithm for Nonlinearly
Parameterized Systems.....................................................................27
2.3.1 Projection Algorithm and Its Modified Form
for Nonlinearly Parameterized Systems...............................27vi ◾ Contents
2.3.2 Least-Squares Algorithm and Its Modified Form
for Nonlinearly Parameterized Systems...............................32
2.4 Conclusions.................................................................................... 44
3 Dynamic Linearization Approach of Discrete-Time
Nonlinear Systems................................................................................45
3.1 Introduction ....................................................................................45
3.2 SISO Discrete-Time Nonlinear Systems ..........................................47
3.2.1 Compact Form Dynamic Linearization..............................47
3.2.2 Partial Form Dynamic Linearization..................................53
3.2.3 Full Form Dynamic Linearization......................................59
3.3 MIMO Discrete-Time Nonlinear Systems...................................... 64
3.3.1 Compact Form Dynamic Linearization............................. 64
3.3.2 Partial Form Dynamic Linearization................................. 66
3.3.3 Full Form Dynamic Linearization......................................69
3.4 Conclusions.....................................................................................71
4 Model-Free Adaptive Control of SISO Discrete-Time
Nonlinear Systems................................................................................75
4.1 Introduction ....................................................................................75
4.2 CFDL Data Model Based MFAC ................................................... 77
4.2.1 Control System Design...................................................... 77
4.2.2 Stability Analysis ................................................................80
4.2.3 Simulation Results..............................................................87
4.3 PFDL Data Model Based MFAC.....................................................93
4.3.1 Control System Design.......................................................93
4.3.2 Stability Analysis ................................................................96
4.3.3 Simulation Results............................................................104
4.4 FFDL Data Model Based MFAC...................................................108
4.4.1 Control System Design.....................................................108
4.4.2 Simulation Results............................................................113
4.5 Conclusions................................................................................... 118
5 Model-Free Adaptive Control of MIMO Discrete-Time
Nonlinear Systems..............................................................................119
5.1 Introduction .................................................................................. 119
5.2 CFDL Data Model Based MFAC ..................................................120
5.2.1 Control System Design.....................................................120
5.2.2 Stability Analysis ..............................................................124
5.2.3 Simulation Results............................................................132
5.3 PFDL Data Model Based MFAC..................................................