Adaptive dual control: theory and applications

Nikolai Michailovich Filatov, Heinz Unbehauen3540213732, 9783540213734

This monograph demonstrates how the performance of various well-known adaptive controllers can be improved significantly using the dual effect. The modifications to incorporate dual control are realized separately and independently of the main adaptive controller without complicating the algorithms. A new bicriterial approach for dual control is developed and applied to various types of popular linear and nonlinear adaptive controllers. Practical applications of the designed controllers to several real-time problems are presented. This monograph is the first book providing a complete exposition on the dual control problem from the inception in the early 1960s to the present state of the art aiming at students and researchers in adaptive control as well as design engineers in industry.

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Table of contents :
2.1.1 Formulation of the Optimal Dual Control Problem……Page 19
2.2. Features of Adaptive Dual Control Systems……Page 20
2.3. Simple Example of Application of the Bicriterial Approach……Page 22
2.4. Simple Example of a Continuous-Time Dual Control System……Page 24
2.5. General Structure of the Adaptive Dual Control System……Page 25
3.1. Classification of Adaptive Controllers……Page 27
3.2. Dual Effect and Neutral Systems……Page 33
3.3. Simplifications of the Original Dual Control Problem……Page 37
3.4. Implicit Dual Control……Page 39
3.5. Explicit Dual Control……Page 40
3.6. Brief History of Dual Control and its Applications……Page 45
4.1.1. Algorithms for Parameter Estimation……Page 46
4.1.2. Simulation Example of Parameter Estimation……Page 48
4.2. The Bicriterial Synthesis Method and the Dual Version of the STR……Page 50
4.3. Design of the Dual Version of the GMV Controller……Page 53
4.4.2. GMV Controller for the Plant with Time Delay d=4……Page 58
4.4.3. GMV Controller for the Plant with Time Delay d=7……Page 62
4.5. Summary……Page 66
5.2. Preliminary Assumptions for the System……Page 68
5.3. Global Stability and Convergence of the System……Page 70
5.4. Conclusion……Page 74
6.1. Design of a Direct Adaptive Pole-Placement Controller Using the Standard Approach……Page 76
6.2. Design of Dual Pole-Placement Controller with Direct Adaptation……Page 79
6.3. Simulation Examples……Page 82
6.3.1 Example 1: Unstable Minimum Phase Plant……Page 83
6.3.2. Example 2: Unstable Nonminimum Phase Plant……Page 84
6.3.3. Comparison of Controllers Based on Standard and Adaptive Dual Approaches……Page 85
7.1. Formulation of the Bicriterial Synthesis Problem for Dual MRAC……Page 88
7.2. Design of Dual MRAC (DMRAC)……Page 91
7.3. Controller for Nonminimum Phase Plants……Page 93
7.4. Standard and Dual MRAC Schemes (DMRAC)……Page 94
7.5. Simulations and Comparisons……Page 95
8.1. Synthesis Problem Formulation by Applying Lyapunov Functions……Page 98
8.2. Synthesis of Adaptive Dual Controllers……Page 101
8.3. Implementation of the Designed Controller and the Relation to the Linear Quadratic Control Problem……Page 103
8.4. Simulation Results for Controllers Based on Lyapunov Functions……Page 104
8.5. Partial Certainty Equivalence Control for Linear Systems……Page 107
8.6. Design of Dual Controllers Using the Partial Certainty Equivalence Assumption and Bicriterial Optimization……Page 110
8.7.1. Example 1: Underdamped Plant……Page 111
8.7.2. Example 2: Nonminimum Phase Plant……Page 114
9.1. Modification of Certainty-Equivalence Adaptive Controllers……Page 118
9.2. Controllers for SIMO Systems……Page 122
9.3. Controllers for SISO Systems with Input-Output Models……Page 123
9.4. An Example for Applying the Method to Derive the Dual Version of an STR……Page 124
9.5.1. Example 1: LQG Controller……Page 125
9.5.2. Example 2: Pole-Placement Controller……Page 126
9.5.3. Example 3: Pole-Placement Controller for a Plant with Integral Behaviour……Page 129
10.1. Indirect Adaptive Pole-Placement Controller and the Corresponding LQG Controller……Page 132
10.2. Dual Modification of the Controller……Page 137
10.3. Computation of the Covariance Matrix of the Controller Parameters……Page 139
10.4. Simplified Dual Versions of the Controllers……Page 141
11.1. Speed Control of a Thyristor-Driven DC Motor……Page 143
11.3. Application Results for the LQG Controller……Page 145
12.1. Pole-Zero-Placement Adaptive Control Law……Page 148
12.1.1. Modification for Cautious and Dual Control……Page 149
12.1.2. Modification for Nonminimum Phase Systems……Page 152
12.2.1. Description of the Plant……Page 153
12.2.2. Comparison of Standard and Dual Control……Page 155
13.1. Description of the Plant with Unmodeled Effects……Page 161
13.2.1. Adaptive Pole-Placement Controller Based on the CE Assumption……Page 162
13.2.2. Incorporation of the Dual Controller……Page 164
13.3.1. Adaptation Scheme……Page 167
13.3.2. Stability of the Adaptive Control System……Page 169
14.1.1. Modelling of the Plant and Parameter Estimation……Page 173
14.1.2. Cautious and Dual MAC……Page 174
14.2.1. Equations for the Plant Model and Parameter Estimation……Page 175
14.2.2. Generalized Predictive Controller (GPC)……Page 176
14.2.3. Dual Modification of the GPC……Page 177
14.3. Other Predictive Controllers……Page 178
15.1.1. Generalized Minimum Variance Controller……Page 179
15.1.2. Direct Adaptive Pole-Placement Controller……Page 184
15.1.3. Model Reference Adaptive Controller……Page 190
15.2. Simulation Studies of Adaptive Controllers Using MATLAB/ SIMULINK……Page 192
15.3.1. Description of the Laboratory Equipment……Page 201
15.3.2. Program Listing……Page 205
15.4.1. Plant Identification Using an ANN……Page 208
15.4.2. ANN-Based Design of a Standard Adaptive LQ Controller……Page 210
15.4.3. Extension to the Design of the ANN-Based Adaptive Dual Controller……Page 212
15.4.4. Real-Time Experiments……Page 216