Robust Adaptive Control by Petros A. Ioannou, Jing Sun - HTML preview

Decision and Control, pp. 1144-1155, 1979.

[27] Caldwell, W.I., Control System with Automatic Response Adjustment.

American patent, 2,517,081. Filed 25, April 1947, 1950.

[28] Carroll, R. and D.P. Lindorff, “An Adaptive Observer for Single-

Input Single-Output Linear Systems,” IEEE Transactions on Auto-

matic Control, Vol.18, pp. 428-435, 1973.

[29] Chalam, V.V., Adaptive Control Systems: Techniques and Applica-

tions, Marcel Dekker, New York, 1987.

[30] Chen, C.T., Introduction to Linear System Theory, Holt, Rinehart and

Winston Inc., New York, 1970.

[31] Chen, C.T. and P.E. Caines, “ On the Adaptive Control of Stochastic

Systems with Random Parameters,” in Proceedings of the 23rd IEEE

Conference on Decision and Control, pp. 33, 1984.

[32] Coppel, W.A., Stability and Asymptotic Behavior of Differential Equa-

tions, Heath and Company, Boston, Massachusetts, 1965.

798

BIBLIOGRAPHY

[33] Cristi, R., “Internal Persistency of Excitation in Indirect Adaptive

Control,” IEEE Transactions on Automatic Control, Vol. 32, no. 12,

1987.

[34] Cruz, Jr, J.B. System Sensitivity Analysis, Dowden, Hutchinson &

Ross Inc., Stroudsburg, Pennsylvania, 1973.

[35] Dasgupta, S. and B.D.O. Anderson, “Priori Information and Persistent

Excitation,” Technical Report, Australian National University, 1987.

[36] Datta, A., “Transient Performance Improvement in Continuous-Time

Model Reference Adaptive Control: An L 1 Formulation,” Proceedings

of the 1993 American Control Conference, San Francisco, California,

pp. 294-299, June 1993.

[37] Datta, A. and M.T. Ho, “ Systematic Design of Model Reference Adap-

tive Controllers with Improved Transient Performance,” Department

of Electrical Engineering, Texas A& M Univ., College Station, Tech.

Report, TAMU-ECE92-12, Nov. 1992.

[38] Datta, A. and P.A. Ioannou, “Decentralized Adaptive Control,” in

C.T. Leondes (Ed.), Advances in Control and Dynamic Systems, Vol.

XXXVI, 1989.

[39] Datta, A. and P.A. Ioannou, “Performance Improvement Versus Ro-

bust Stability in Model Reference Adaptive Control,” Proceedings of

the 30th IEEE Conference on Decision and Control, pp. 1082-1087,

December, 1991.

[40] De Larminat, Ph., “On the Stabilizability Condition in Indirect Adap-

tive Control,” Automatica, Vol. 20, pp. 793-795, 1984.

[41] Desoer, C.A., Notes for a Second Course on Linear Systems, Van Nos-

trand Reinhold, New York, 1970.

[42] Desoer, C.A. and M. Vidyasagar, Feedback Systems: Input-Output

Properties, Academic Press Inc., New York, 1975.

[43] Dion, J.M., Dugard, L. and Carrillo, J., “Interactor and Multivariable

Adaptive Model Matching,” IEEE Transactions on Automatic Control,

Vol. 33, no. 4, pp. 399-401, 1988.

BIBLIOGRAPHY

799

[44] Dorf, R.C. Modern Control Systems, 6th Edition, Addison-Wesley

Publishing Company, Reading, Massachusetts, 1991.

[45] Doyle, J., B.A. Francis and A.R. Tannenbaum, Feedback Control The-

ory, MacMillan, New York, 1992.

[46] Duarte, M.A. and K.S. Narendra, “Combined Direct and Indirect

Adaptive Control of Plants with Relative Degree Greater Than One,”

Technical Report, No. 8715, Center for System Science, Yale Univer-

sity, New Haven, Connecticut, 1987.

[47] Dugard, L. and G.C. Goodwin, “Global Convergence of Landau’s

“Output Error with Adjustable compensator” Adaptive Algorithm”,

IEEE Transactions on Automatic Control, Vol. 30. no. 6, pp. 593-595,

1985.

[48] Egardt, B., Stability of Adaptive Controllers, Lecture Notes in Control

and Information Sciences, Vol. 20, Springer-Verlag, Berlin, 1979.

[49] Elliott, H., Cristi, R. and Das, M. “Global Stability of Adaptive Pole

Placement Algorithms,” IEEE Transactions on Automatic Control,

Vol. 30, no. 4, pp. 348-356, 1985.

[50] Elliott, H. and Wolovich, W.A., “A Parameter Adaptive Control Struc-

ture for Linear Multivariable Systems,” IEEE Transactions on Auto-

matic Control, Vol. 27, no. 2, pp. 340-352, 1982.

[51] Elliott, H. and W.A. Wolovich, “Parametrization Issues in Multivari-

able Adaptive Control,” Automatica, Vol. 20, no. 5, pp. 533-545, 1984.

[52] Eykhoff, P. System Identification: Parameter and State Estimation,

John Wiley & Sons, Inc., New York, 1974.

[53] Fel’dbaum, A.A., Optimal Control Systems, Academic Press, New

York, 1965.

[54] Feuer, A. and A.S. Morse, “Adaptive Control of Single-Input, Single-

Output Linear Systems,” IEEE Transactions on Automatic Control,

Vol. 23 pp. 557-569, 1978.

800

BIBLIOGRAPHY

[55] Fradkov, A.L., Adaptive Control in Large Scale Systems (in Russian),

M, Nauka, Phys & Math, 1990.

[56] Fradkov, A.L., “Continuous-Time Model Reference Adaptive Systems–

An East-West Review,” Proceedings of the IFAC Symposium on Adap-

tive Control and Signal Processing, Grenoble, France, July 1992.

[57] Franklin, G.F., J.D. Powell and A. Emami-Naeini, Feedback Control

of Dynamic Systems, 2nd Edition, Addison-Wesley, Reading, Mas-

sachusetts, 1991.

[58] Fu, M. and B.R. Barmish, “Adaptive Stabilization of Linear Systems

via Switching Control,” IEEE Transactions on Automatic Control,

Vol. 31, no. 12, pp. 1097-1103, 1986.

[59] Gavel, D.T. and D.D. Siljak, “Decentralized Adaptive Control: Struc-

tural Conditions for Stability,” IEEE Transactions on Automatic Con-

trol, Vol. 34, no. 4, pp. 413-425, 1989.

[60] Gawthrop, P.J. “Hybrid Self-Tuning Control,” IEE Proceedings, Part

D, Vol. 127, pp. 229-336, 1980.

[61] Gawthrop, P.J., Continuous-Time Self-Tuning Control: Volume I–

Design. Research Studies Press LtD., John Wiley & Sons Inc., New

York, 1987.

[62] Gilbert, W.J., Modern Algebra with Applications, John Wiley & Sons

Inc., New York, 1976.

[63] Giri, F., F. Ahmed-Zaid and P.A. Ioannou, “Stable Indirect Adaptive

Control of Continuous-time Systems with No Apriori Knowledge about

the Parameters,” Proceedings of the IFAC International Symposium on

Adaptive Systems in Control and Signal Processing, Grenoble, France,

July 1992.

[64] Giri, F., J.M. Dion, M. M’Saad and L. Dugard, “A Globally Conver-

gent Pole Placement Indirect Adaptive Controller,” Proceedings of the

26th IEEE Conference on Decision and Control, Los Angeles, Califor-

nia, pp. 1-6, December 1987.

BIBLIOGRAPHY

801

[65] Giri, F., J. M. Dion, L. Dugard and M. M’Saad, “Parameter Estima-

tion Aspects in Adaptive Control,” Proceedings of IFAC Symposium

on Identification and System Parameter Estimation, Beijing, China,

1988.

[66] Giri, F., M. M’Saad, L. Dugard and J. M. Dion, “Pole Placement

Direct Adaptive Control for Time-Varying Ill-Modeled Plants,” IEEE

Transactions on Automatic Control, Vol. 35, no. 6, pp. 723-726, 1990.

[67] Glover, K., “All Optimal Hankel-Norm Approximations of Linear Mul-

tivariable Systems and Their L∞-Error Bounds,” International Jour-

nal of Control, Vol. 39, no. 6, pp. 1115-1193, 1984.

[68] Golden, M.P. and B.E. Ydstie, “Chaos and Strange Attractors in

Adaptive Control Systems, Proceedings of the 10th IFAC World

Congress, Vol. 10, pp. 127-132, Munich, 1987.

[69] Gomart, O. and P. Caines, “On the Extension of Robust Global Adap-

tive Control Results to Unstructured Time-Varying Systems,” IEEE

Transactions on Automatic Control, Vol. 31, no. 4, pp. 370, 1986.

[70] Goodwin, G.C., D.J. Hill and X. Xianya, “ Stochastic Adaptive Con-

trol for Exponentially Convergent Time-Varying Systems,” in Proceed-

ings of the 23rd IEEE Conference on Decision and Control, pp. 39,

1984.

[71] Goodwin, G.C. and D.Q. Mayne, “A Parameter Estimation Perspec-

tive of Continuous Time Adaptive Control,” Automatica, Vol. 23, 1987.

[72] Goodwin, G.C., P.J. Ramadge and P.E. Caines, “Discrete-Time Multi-

variable Adaptive Control,” IEEE Transactions on Automatic Control,

Vol. 25, no. 3, pp. 449-456, 1980.

[73] Goodwin, G.C. and K.C. Sin, Adaptive Filtering Prediction and Con-

trol, Prentice Hall, Englewood Cliffs, New Jersey, 1984.

[74] Goodwin, G.C. and E. K. Teoh, “ Adaptive Control of a class of Linear

Time Varying Systems,” Proceedings of the IFAC Workshop on Adap-

tive Systems in Control and Signal Processing, San Francisco, June

1983.

802

BIBLIOGRAPHY

[75] Goodwin, G.C. and E.K. Teoh, “Persistency of Excitation in the Pres-

ence of Possibly Unbounded Signals,” IEEE Transactions on Auto-

matic Control, Vol. 30, no. 6, pp. 595-597, 1985.

[76] Grayson, L.P., “Design via Lyapunov’s Second Method,” Proceedings

of the 4th JACC, Minneapolis, Minnesota, 1963.

[77] Gupta, M.M. (Ed.), Adaptive Methods for Control System Design,

IEEE Press, New York, 1986.

[78] Hahn, W. Theory and Application of Lyapunov’s Direct Method. Pren-

tice Hall, Englewood Cliffs, New Jersey, 1963.

[79] Hale, J. K., Ordinary Differential Equations, Wiley, New York, 1969.

[80] Harris, C.J. and S.A. Billings (Eds), Self-Tuning and Adaptive Control:

Theory and Applications, Peter Peregrinus, London, 1981.

[81] Hsu, L. and R.R. Costa, “Bursting Phenomena in Continuous-Time

Adaptive Systems with a σ-Modification,” IEEE Transactions on Au-

tomatic Control, Vol. 32, no. 1, pp. 84-86, 1987.

[82] Ioannou, P.A., “Decentralized Adaptive Control of Interconnected Sys-

tems”, IEEE Transactions on Automatic Control, Vol. 31, no. 3, pp.

291-298, 1986.

[83] Ioannou, P.A. and A. Datta, “Robust Adaptive Control: A Unified

Approach,” Proceedings of the IEEE, Vol. 79, no. 12, pp. 1735-1768,

1991.

[84] Ioannou, P.A. and A. Datta, “Robust Adaptive Control: Design, Anal-

ysis and Robustness Bounds,” in P.V. Kokotović (Ed.), Grainger Lec-

tures: Foundations of Adaptive Control, Springer-Verlag, New York,

1991.

[85] Ioannou, P.A. and P.V. Kokotović, Adaptive Systems with Reduced

Models, Lecture Notes in Control and Information Sciences, Vol. 47,

Springer-Verlag, New York, 1983.

BIBLIOGRAPHY

803

[86] Ioannou, P.A. and P.V. Kokotović, “Instability Analysis and Improve-

ment of Robustness of Adaptive Control,” Automatica, Vol. 20, no. 5,

pp. 583-594, 1984.

[87] Ioannou, P.A. and J. Sun, “Theory and Design of Robust Direct and

Indirect Adaptive Control Schemes,” Int. Journal of Control, Vol. 47,

no. 3, pp. 775-813, 1988.

[88] Ioannou, P.A. and G. Tao, “Model Reference Adaptive Control of

Plants with Known Unstable Zeros,” USC Report 85-06-01, Univer-

sity of Southern California, Los Angeles, California, June 1985.

[89] Ioannou, P.A. and G. Tao, “Frequency Domain Conditions for Strictly

Positive Real Functions,” IEEE Transactions on Automatic Control,

Vol. 32, no. 1, pp. 53-54, 1987.

[90] Ioannou, P.A. and G. Tao, “Dominant Richness and Improvement of

Performance of Robust Adaptive Control,” Automatica, Vol. 25, no. 2,

pp. 287-291, 1989.

[91] Ioannou, P.A. and K.S. Tsakalis, “A Robust Direct Adaptive Con-

troller,” IEEE Transactions on Automatic Control, Vol. 31, no. 11,

pp. 1033-1043, 1986.

[92] Ioannou, P.A. and T.Z. Xu, “Throttle and Brake Control Systems for

Automatic Vehicle Following,” IVHS Journal, Vol. 1, no. 4, pp. 345-

377, 1994.

[93] James, D.J., “Stability of a Model Reference Control System,” AIAA

Journal, Vol. 9, no. 5, 1971.

[94] Johnson, Jr., C.R., Lectures on Adaptive Parameter Estimation, Pren-

tice Hall, Englewood Cliffs, New Jersey, 1988.

[95] Kailath, T., Linear Systems, Prentice Hall, Englewood Cliffs, New

Jersey, 1980.

[96] Kalman, R.E. “Design of a Self Optimizing Control System,” Trans-

action of the ASME, Vol. 80, pp. 468-478, 1958.

804

BIBLIOGRAPHY

[97] Kalman, R. E., and J. E. Bertram, “Control Systems Analysis and

Design via the ‘Second Method’ of Lyapunov,” Journal of Basic En-

gineering Vol. 82, pp. 371-392, 1960.

[98] Kanellakopoulos, I., Adaptive Control of Nonlinear Systems, Ph.D

Thesis, Report No. UIUC-ENG-91-2244, DC-134, University of Illinois

at Urbana-Champaign, Coordinated Science Lab., Urbana, IL 61801.

[99] Kanellakopoulos, I., P.V. Kokotović and A.S. Morse, “Systematic De-

sign of Adaptive Controllers for Feedback Linearizable Systems,” IEEE

Transactions on Automatic Control, Vol. 36, pp. 1241-1253, 1991.

[100] Kaufman, H. and G. Neat, “Asymptotically Stable Multi-input Multi-

output Direct Model Reference Adaptive Controller for Processes Not

Necessarily Satisfying a Positive Real Constraint,” International Jour-

nal of Control, Vol. 58, no. 5, pp. 1011-1031, 1993.

[101] Khalil, H.K., Nonlinear Systems, MacMillan, New York, 1992.

[102] Khalil, H.K. and A. Saberi, “Adaptive Stabilization of a Class of Non-

linear Systems Using High Gain Feedback,” IEEE Transactions on

Automatic Control, Vol. 32, no. 11, pp. 1031-1035, 1987.

[103] Kim, C., Convergence Studies for an Improved Adaptive Observer,

Ph. D thesis, University of Connecticut, 1975.

[104] Kokotović, P.V. “Method of Sensitivity Points in the Investigation and

Optimization of Linear Control Systems,” Automation and Remote

Control, Vol. 25, pp. 1512-1518, 1964.

[105] Kokotović, P.V. (Ed.), Foundations of Adaptive Control, Springer-

Verlag, New York, 1991.

[106] Kokotović, P.V., H.K. Khalil and J. O’Reilly, Singular Perturbation

Methods in Control: Analysis and Design, Academic Press, New York,

1986.

[107] Krasovskii, N.N. Stability of Motion: Application of Lyapunov’s Sec-

ond Method to Differential Systems and Equations with Delay, Stan-

ford University Press, Stanford, California, 1963.

BIBLIOGRAPHY

805

[108] Kreisselmeier, G. “Adaptive Observers with Exponential Rate of Con-

vergence,” IEEE Transactions on Automatic Control, Vol. 22, no. 1,

pp. 2-8, 1977.

[109] Kreisselmeier, G., “An Approach to Stable Indirect Adaptive Control,”

Automatica, Vol. 21, no. 4, pp. 425-431, 1985.

[110] Kreisselmeier, G., “Adaptive Control of a Class of Slow Time-Varying

Plants,” Systems and Control Letters, Vol. 8, no. 2, pp. 97-103, 1986.

[111] Kreisselmeier, G., “A Robust Indirect Adaptive Control Approach,”

International Journal of Control, Vol. 43, no. 1, pp. 161-175, 1986.

[112] Kreisselmeier, G., “An indirect adaptive controller with a self-

excitation capability,” IEEE Transactions on Automatic Control, Vol.

34, no. 5, pp. 524-528, 1989.

[113] Kreisselmeier, G. and B.D.O. Anderson, “Robust Model Reference

Adaptive Control,” IEEE Transactions on Automatic Control, Vol.

31, no. 2, pp. 127-133, 1986.

[114] Kreisselmeier, G. and G. Rietze-Augst, “Richness and Excitation on

an Interval–with Application to Continuous-time Adaptive Control,”

IEEE Transactions on Automatic Control, Vol. 35, no. 2, 1990.

[115] Kronauer, R. E. and P. G. Drew, “Design of the Adaptive Feedback

Loop in Parameter-Perturbation Adaptive Controls,” Proceedings of

the IFAC Symposium on the Theory of Self-Adaptive Control Systems,

Teddington, England, September 1965.

[116] Krstić, M., I. Kanellakopoulos and P.V. Kokotović, “A New Genera-

tion of Adaptive Controllers for Linear Systems,” Proceedings of the

31st IEEE Conference on Decision and Control, Tucson, Arizona, De-

cember 1992.

[117] Krstić, M., I. Kanellakopoulos and P.V. Kokotović, “Passivity and

Parametric Robustness of a New Class of Adaptive Systems,” Re-

port CCEC-92-1016, Center for Control Engineering and Computa-

tion, University of California, Santa Barbara, California, 1992.

806

BIBLIOGRAPHY

[118] Krstić, M., I. Kanellakopoulos and P.V. Kokotović, “Nonlinear Design

of Adaptive Controllers for Linear Systems,” Report CCEC-92-0526,

Center for Control Engineering and Computation, University of Cali-

fornia, Santa Barbara, California, 1992.

[119] Krstić, M., P. V. Kokotović and I. Kanellakopoulos,“Transient Per-

formance Improvement with a New Class of Adaptive Controllers,”

Systems & Control Letters, Vol. 21, pp. 451-461, 1993.

[120] Kudva, P. and K. S. Narendra, “Synthesis of an Adaptive Observer

Using Lyapunov’s Direct Method,” Int. Journal of Control, Vol. 18,

pp. 1201-1210, 1973.

[121] Kuo, B. C. Automatic Control Systems, 6th Edition, Prentice Hall,

Englewood Cliffs, New Jersey, 1991.

[122] Kwakernaak, H. and R. Sivan, Linear Optimal Control Systems, Wiley

Interscience, New York, 1972.

[123] Landau, I.D. Adaptive Control: The Model Reference Approach, Mar-

cel Dekker, Inc., New York, 1979.

[124] LaSalle, J.P., and S. Lefschetz, Stability by Lyapunov’s Direct Method

with Application, Academic Press, New York, 1961.

[125] LaSalle, J.P., “Some Extensions of Lyapunov’s Second Method.” IRE

Transactions on Circuit Theory, pp. 520-527, December 1960.

[126] Lefschetz, S., Stability of Nonlinear Control Systems, Academic Press,

New York, 1963

[127] Ljung L. and T. Soderstrom, Theory and Practice of Recursive Iden-

tification, MIT Press, Cambridge, Massachusetts, 1983.

[128] Lozano-Leal, R., “Robust Adaptive Regulation without Persistent Ex-

citation,” IEEE Transactions on Automatic Control, Vol. 34, no. 12,

pp. 1260–1267, 1989.

[129] Lozano-Leal, R. and G.C. Goodwin, “A Globally Convergent Adap-

tive Pole Placement Algorithm Without a Persistency of Excitation

BIBLIOGRAPHY

807

Requirement,” IEEE Transactions on Automatic Control, Vol. 30, no.

8, pp. 795-797, 1985.

[130] Luders, G. and K.S. Narendra, “An Adaptive Observer and Identifier

for a Linear System,” IEEE Transactions on Automatic Control, Vol.

18, no. 5, pp. 496-499, 1973.

[131] Luders, G and K.S. Narendra, “A New Canonical Form for an Adaptive

Observer”, IEEE Transactions on Automatic Control, Vol. 19, no. 2,

pp. 117-119, 1974.

[132] Luenberger, D.G. Optimization by Vector Space Methods, John Wiley

& Sons, Inc., New York, 1969.

[133] Lyapunov, A.M. “The General Problem of Motion Stability” (1892)

In Russian. Translated to English, Ann. Math. Study, no. 17, 1949,

Princeton University Press, 1947.

[134] Malkin, I.G., “Theory of Stability of Motion,” Technical Report Tr.

3352, U.S. Atomic Energy Commission, English Ed., 1958.

[135] Mareels, I.M.Y., B.D.O. Anderson, R.R. Bitmead, M. Bodson, and S.S.

Sastry, “Revisiting the MIT Rule for Adaptive Control,” Proceedings

of the 2nd IFAC Workshop on Adaptive Systems in Control and Signal

Processing, Lund, Sweden, 1986.

[136] Mareels, I.M.Y. and R.R. Bitmead, “Nonlinear Dynamics in Adaptive

Control: Chaotic and Periodic Stabilization,” Automatica, Vol. 22, pp.

641-655, 1986.

[137] Martensson, B. “The Order of Any Stabilizing Regulator is Sufficient

Information for Adaptive Stabilization,” System & Control Letters,

Vol. 6, pp. 299-305, 1986.

[138] Martin-Sanchéz, J.M., “Adaptive Control for Time-Varying Process,”

in Proceedings of 1985 American Control Conference, pp. 1260, 1985.

[139] Massera, J.L., “Contributions to Stability Theory,” Annals of Mathe-

matics, Vol. 64, pp. 182-206, 1956.

808

BIBLIOGRAPHY

[140] McRuer, D., I. Ashkenas and D. Graham, Aircraft Dynamics and Au-

tomatic Control, Princeton University Press, Princeton, New Jersey,

1973.

[141] Mendel, J. M., Discrete Techniques of Parameter Estimation: The

Equation Error Formulation, Marcel Dekker, Inc., New York, 1973.

[142] Meyer, K. R., “On the Existence of Lyapunov Functions for the Prob-

lem on Lur’e,” SIAM Journal of Control, Vol. 3, pp. 373-383, 1965.

[143] Michel, A. and R.K. Miller, Ordinary Differential Equations, Academic

Press, New York, 1982.

[144] Middleton, R.H and G.C. Goodwin, Digital Control and Estimation: A

Unified Approach, Prentice Hall, Englewood Cliffs, New Jersey, 1990.

[145] Middleton, R.H. and G. C. Goodwin, “Adaptive Control of Time-

Varying Linear Systems,” IEEE Transactions on Automatic Control,

Vol 33, No. 2, pp. 150-155, Feb. 1988.

[146] Middleton, R.H., G.C. Goodwin, D.J. Hill and D.Q. Mayne, “Design

Issues in Adaptive Control,” IEEE Transactions on Automatic Con-

trol, Vol. 33, no. 1, pp. 50-58, 1988.

[147] Miller D.E. and E.J. Dav