دانلود کتاب Nonlinear and Adaptive Control: NCN4 2001

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Nonlinear and Adaptive Control......Page 4
Preface......Page 6
Contents......Page 7
Introduction......Page 14
Asymptotic stabilization via immersion and
invariance......Page 17
Magnetic levitation system......Page 19
Flexible joints robot......Page 21
Adaptive control via immersion and invariance......Page 22
Classical approach revisited......Page 23
Linearly parameterized control......Page 25
Linearly parameterized control and system......Page 27
Examples......Page 28
Adaptive visual servoing: A nonlinearly parameterizedproblem......Page 30
Conclusions and outlook......Page 31
References......Page 32
Introduction......Page 34
Mathematical models......Page 35
Control design......Page 41
Results and conclusions......Page 42
References......Page 44
Introduction......Page 45
The two levels case......Page 47
Another interpretation: the Hopf fibration and the Isoarea Problem......Page 48
The resonant problem with three levels......Page 49
The counter intuitive solutions......Page 53
Conclusion......Page 54
References......Page 55
Introduction......Page 56
General setup......Page 57
Strong robustness and strongly robust stability radius......Page 58
Existence of strongly robust sets......Page 60
A necessary and a sufficient condition for strong robustness......Page 61
Calculation of the strongly robust stability radius......Page 62
Computational aspect......Page 64
References......Page 65
Introduction......Page 66
Parametrization of kernel/image representations......Page 67
Dirac structures composition expression......Page 69
Application example......Page 72
Acknowledgements......Page 73
References......Page 74
Introduction......Page 75
Dynamical model......Page 76
Power Angle......Page 78
Adaptive controller and main result......Page 79
Simulation results......Page 84
Acknowledgments......Page 85
References......Page 86
Introduction......Page 87
Mathematical model of pneumatic actuators......Page 88
Flow relationships for control valves......Page 89
Load dynamics......Page 90
Static friction measurement......Page 91
Description of Genetic Algorithms for parameter identification......Page 92
Identification of friction coefficient using GA......Page 93
Conclusion......Page 96
References......Page 98
Introduction to nonlinear model predictive control......Page 99
The principle of nonlinear model predictive control......Page 100
Mathematical formulation of NMPC......Page 101
Quasi-infinite horizon NMPC......Page 104
Some results on output feedback NMPC......Page 108
Some remarks on the efficient numerical solution of NMPC......Page 112
Application example-real-time feasibility of NMPC......Page 113
Conclusions......Page 114
References......Page 115
Introduction......Page 119
Preliminaries: Nonlinear triangular systems......Page 121
Design of the state observer......Page 122
Preliminaries: Global identifiability in nonlinear context......Page 125
Parameter Identification algorithm......Page 127
Simultaneous state and parameter identification......Page 128
Preliminaries......Page 129
State and parameter identification algorithm......Page 131
Robustness study......Page 134
Conclusion......Page 137
References......Page 138
Introduction......Page 139
Problem statement......Page 140
Hypotheses......Page 141
Stability results......Page 143
Stabilization via feedbacks with memory......Page 144
Stabilization via memoryless feedbacks......Page 145
Example......Page 146
Concluding remarks......Page 147
References......Page 148
Introduction......Page 149
Physical model of the boost converter......Page 150
Steady-state and zero-dynamics analysis......Page 151
Control design......Page 153
Parameter analysis......Page 154
Simulation results......Page 156
References......Page 158
Introduction......Page 159
Model of the motor......Page 160
Observer for the load torque and the rotor .ux......Page 162
Reference trajectory generation......Page 163
Tracking control of the reduced model......Page 164
Tracking control of the complete model......Page 165
Simulation results......Page 167
References......Page 169
Introduction......Page 171
Exact feedforward linearisation based on differential flatness......Page 172
Exact feedforward linearisation and control law design......Page 174
Structure of the error equation......Page 175
Stability......Page 176
A stability result by Kelemen......Page 177
Stability for the proposed control strategy......Page 178
References......Page 180
Control system basics......Page 181
Local accessible sets near regular points......Page 183
Control-transverse geometric objects......Page 186
Transverse objects and control......Page 187
Smooth feedback stabilization......Page 188
Variations of transverse objects and the Conley index......Page 189
References......Page 190
Introduction......Page 191
Passivation of nonlinear systems......Page 192
Sliding mode of passive systems......Page 194
Sliding mode of linear systems with passivation......Page 196
Example......Page 198
Adaptive passivation of nonlinear systems......Page 200
Example: Gravity-flow/pipeline system......Page 201
Conclusions......Page 203
References......Page 204
Introduction......Page 205
Linear algebraic framework......Page 206
Accessibility and the accessible subspace......Page 207
Normal form......Page 208
Controller canonical form and static state feedback linearization......Page 209
Equivalence to prime systems......Page 210
Integrability conditions......Page 212
Problems related to finding the integrating factor and integrating the one-forms......Page 213
References......Page 214
Introduction......Page 216
Adaptive compensation design......Page 218
Stability analysis......Page 222
Extensionto m sinusoidal disturbances......Page 226
An illustrative example......Page 229
References......Page 234
Introduction......Page 236
DAB algorithm for disturbed systems......Page 237
Combined sliding backstepping control of disturbed systems......Page 243
Example......Page 245
Conclusions......Page 246
References......Page 247
Introduction......Page 248
Method of dichotomies......Page 250
Bounded preview time......Page 253
Bounded preview time with sliding mode control......Page 254
Simulation......Page 255
Conclusions......Page 256
References......Page 257
Introduction: Geometric classes (basic geometry) of Goursat germs......Page 258
Kumpera –Ruiz algebras. Theorems of the paper......Page 260
Nilpotency orders of KR algebras – Proof of Thm. 1......Page 263
Nilpotent approximations of Goursat germs often are not Goursat (proof of Theorem 3)......Page 267
References......Page 269
Introduction......Page 271
Basic notations......Page 272
System operators......Page 273
State space operator......Page 274
The control system......Page 275
On transfer function analysis of coercive problems......Page 276
Transfer function manipulations by symbols......Page 277
References......Page 280
Lyapunov stability analysis......Page 282
Asymptotical stability of multi-periodic repetitive control for a class of nonlinear systems......Page 285
Simulation......Page 287
Acknowledgements......Page 289
References......Page 290
Introduction......Page 291
Perturbed hybrid systems......Page 292
The Artstein ’s circles......Page 294
A new notion of trajectories......Page 296
The uniting problem......Page 298
Robust stabilization of asymptotic controllable systems......Page 299
References......Page 300
Introduction......Page 301
Global strong stability in a continuous framework......Page 303
Construction of non-Lipschitz continuous stabilizers......Page 307
Global strong stabilization of cascade systems......Page 314
Control of an underactuated mechanical system......Page 316
References......Page 319
Introduction......Page 322
Terminology and basic facts......Page 323
Main result......Page 325
Sketch of the proof......Page 328
References......Page 331
Introduction......Page 332
Automatic di .erentiation......Page 333
Series expansion of state-space systems and Lie derivatives......Page 335
Tangent system......Page 336
Lie Brackets and the Cambell-Baker-Hausdorff formula......Page 337
Example......Page 338
References......Page 340
Introduction......Page 342
Nonlinear engine model......Page 344
Direct-inverse linearisation and quasi-linearisation......Page 346
The inverse compensators......Page 349
Identification of linear models......Page 351
Experimental results......Page 352
Conclusions......Page 353
References......Page 354
Introduction......Page 355
State reconstruction in nonlinear observable systems......Page 356
Notation......Page 357
An exact delayed input output state reconstructor......Page 358
The non-holonomic car system......Page 360
Feedback controller design based on approximate .atness......Page 361
Simulation results......Page 362
Conclusions......Page 363
References......Page 364
Introduction......Page 365
An average model of a boost converter......Page 366
Properties of the average normalized model......Page 367
GPID regulation around a nominal trajectory......Page 368
A time-varying linearized model around the nominal stabilizing trajectory......Page 369
A Lyapunov based controller......Page 371
Simulation results......Page 372
References......Page 374
Introduction......Page 376
Preliminaries......Page 377
Robust reconstruction of actuator faults......Page 379
Designing the observer......Page 380
Robust reconstruction of sensor faults......Page 382
An example: A nonlinear crane system......Page 383
Robust reconstruction of sensor faults......Page 384
References......Page 385
Introduction and problem formulation......Page 387
Definitions......Page 389
Assumptions......Page 390
Trajectory generator......Page 391
Trajectory update......Page 392
Example......Page 394
References......Page 396