Being a motion on a discontinuity set of a dynamic system, sliding mode is used to keep accurately a given constraint and features theoretically-infinite-frequency switching. Standard sliding modes provide for finite-time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Yet the relative degree of the constraint has to be 1 and a dangerous chattering effect is possible. Higher-order sliding modes preserve or generalize the main properties of the standard sliding mode and remove the above restrictions. r-Sliding mode realization provides for up to the rth order of sliding precision with respect to the sampling interval compared with the first order of the standard sliding mode. Such controllers require higher-order real-time derivatives of the outputs to be available. The lacking information is achieved by means of proposed arbitrary-order robust exact differentiators with finite-time convergence. These differentiators feature optimal asymptot...

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Higher-order sliding modes, differentiation and output-feedback control

Paper: Model predictive heuristic control

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

System Identification I

A digital feedforward control algorithm for tracking desired time varying signals is presented. The feedforward controller cancels all the closed-loop poles and cancellable closed-loop zeros. For uncancellable zeros, which include zeros outside the unit circle, the feedforward controller cancels the phase shift induced by them. The phase cancellation assures that the frequency response between the desired output and actual output exhibits zero phase shift for all the frequencies. The algorithm is particularly suited to the general motion control problems including robotic arms and positioning tables. A typical motion control problem is used to show the effectiveness of the proposed feedforward controller.

Zero Phase Error Tracking Algorithm for Digital Control

From the Publisher:
Adaptive Control provides techniques for automatic adjustment in real time of controller parameters to achieve or maintain a desired level of system performance when the process parameters are unknown or variable. The book deals coherently with many aspects of the field, starting with the problems posed and moving onto the presentation of the solutions and their practical significance. As well as presenting recent trends, the book also looks at: Synthesis and Analysis of Parameter Adaptation Algorithms, Recursive Plant Model Identification in Open and Close Loop, Robust Digital Control for Adaptive Control, Robust Parameter Adaptation Algorithms, Direct and Indirect Adaptive Control, and Practical Aspects and Applications. To reflect the importance of digital computers for the application of adaptive control techniques, discrete-time aspects are emphasized. To guide the reader, the book contains various applications of adaptive control techniques.

Continuous Control Systems: A Review -- Computer Control Systems -- Robust Digital Controller Design Methods -- Design of Digital Controllers in the Presence of Random Disturbances -- System Identification: The Bases -- System Identification Methods -- Practical Aspects of System Identification -- Practical Aspects of Digital Control -- Identification in Closed Loop -- Reduction of Controller Complexity.

Digital Control Systems: Design, Identification and Implementation

A survey of model reference adaptive techniques-Theory and applications

Adaptive Control (second edition) shows how a desired level of system performance can be maintained automatically and in real time, even when process or disturbance parameters are unknown and variable. It is a coherent exposition of the many aspects of this field, setting out the problems to be addressed and moving on to solutions, their practical significance and their application. Discrete-time aspects of adaptive control are emphasized to reflect the importance of digital computers in the application of the ideas presented. The second edition is thoroughly revised to throw light on recent developments in theory and applications with new chapters on: · multimodel adaptive control with switching; · direct and indirect adaptive regulation; and · adaptive feedforward disturbance compensation. Many algorithms are newly presented in MATLAB® m-file format to facilitate their employment in real systems. Classroom-tested slides for instructors to use in teaching this material are also now provided. All of this supplementary electronic material can be downloaded from www.springer.com/978-0-85729-663-4. The core material is also up-dated and re-edited to keep its perspective in line with modern ideas and more closely to associate algorithms with their applications giving the reader a solid grounding in: · synthesis and analysis of parameter adaptation algorithms; · recursive plant model identification in open and closed loop; · robust digital control for adaptive control; · robust parameter adaptation algorithms; · practical considerations and applications, including flexible transmission systems, active vibration control and broadband disturbance rejection and a supplementary introduction on hot dip galvanizing and a phosphate drying furnace. Control researchers and applied mathematicians will find Adaptive Control of significant and enduring interest and its use of example and application will appeal to practitioners working with unknown- and variable-parameter plant. Praise for the first edition: …well written, interesting and easy to follow, so that it constitutes a valuable addition to the monographs in adaptive control for discrete-time linear systems… suitable (at least in part) for use in graduate courses in adaptive control.

Adaptive Control: Algorithms, Analysis and Applications

The model reference adaptive system approach together with the positivity lemma for time varying discrete systems are used to construct recursive identifiers with a parallel adjustable model, using adaptation algorithms having a decreasing gain. Identification of single input-single output systems and of multivariable systems is discussed. The identifiers assure an asymptotic unbiased parameter estimation in the presence of noise obscured measurements. Experimental results obtained from simulated data and from the identification of a paper machine are presented. The comparison with the performances of other identification methods is discussed.

Ioan Doré Landau

Papers

Adaptive Control

Digital Control Systems: Design, Identification and Implementation

A survey of model reference adaptive techniques-Theory and applications

Adaptive Control: Algorithms, Analysis and Applications

Unbiased recursive identification using model reference adaptive techniques