Adaptive dual control. Theory and applications. (Q1887350)

The principal aim of this book is to show how to improve the performance of various well-known adaptive controllers using dual adaptive controllers. Dual adaptive control schemes unify parameter estimation and controller design. It is well known that treating parameter estimation separately from the control algorithm can lead to substantially sub-optimal performance. The particular form of dual adaptive control presented in this book is the bicriterial synthesis method that was developed by the authors over the last ten years. Various adaptive controllers can be integrated into dual adaptive control, including linear quadrature, model reference, predictive, pole placement with direct and indirect adaptation, Lyapunov-based, robust and nonlinear. Modifications to incorporate dual control can be accomplished separately and independently of the main adaptive controller, so that the control system can be implemented to operate in real time. Each of the sixteen chapters of this book addresses either a specific problem of control theory or an application. After an introductory chapter, Chapter 2 discusses the fundamentals of adaptive dual control, and Chapter 3 provides a survey of dual control methods. The authors' preferred bicriteria synthesis work is described in Chapter 4, and applications to direct adaptive control systems are provided in Chapter 6. The main idea of the bicriteria approach is to introduce two cost functions that correspond to the two goals of system control: the system output should track the desired reference signal, and the control signal should excite the plant sufficiently to accelerate the parameter estimation process. Applications are presented throughout, as for example in Chapters 11 and 12 that present several real-time computer control problems, and in Chapter 15, where the authors discuss a real-time control scheme for a hydraulic positioning system. Chapter 16 presents simulation studies and includes MATLAB and SIMULINK codes. The authors suggest that their book is directed toward practicing design engineers as well as both undergraduate and graduate students of adaptive real-time control. Prerequisites include a solid background in ditigal control systems and adaptive control as well as familiarity with probability theory and random variables.