Model Free Adaptive Control Theory and Applications

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..................................................