Beruflich Dokumente
Kultur Dokumente
Zhongsheng Hou
(rflC)J
CRC Press
Taylor & Francis Group
Boca Raton
CRC Press is
Taylor
an
& Francis
London
New York
imprint of the
Group, an informa business
Shangtai
Jin
Contents
Preface
xiii
Authors
xvii
Symbols
xix
xxiii
Acronyms
1
Introduction
1.1
Model-Based Control
1.1.1
1.1.2
1.2
1
1
1
3
Data-Driven Control
1.2.1
1.2.2
Object of Data-Driven
1.2.3
1.2.4
Brief Survey
1.2.4.1
on
Control Methods
DDC Classification
According
to
Data
According
to
Controller
10
Usage
1.2.4.2
DDC Classification
Structure
1.2.5
1.3
14
Design
Introduction
2.2
Parameter Estimation
15
17
10
Systems
19
19
Parameterized
20
2.2.1
21
2.2.2
Systems
Projection Algorithm
Least-Squares Algorithm
2.2.2.1
Least-Squares Algorithm for Time-Invariant
Parameter Estimation
22
22
vi
Contents
2.2.2.2
Modified Least-Squares
Algorithm
for
Parameter Estimation
2.3
Time-Varyiag
Parameter Estimation Algorithm for Nonlinearly
Parameterized Systems
2.3.1
Projection Algorithm and Its Modified Form
for
2.3.2
2.4
Least-Squares Algorithm
27
27
27
28
32
32
34
44
Conclusions
45
3.1
Introduction
45
3.2
3.3
Compact
3.2.2
47
47
53
59
Systems
64
3.3.1
Linearization
64
3.3.2
Partial Form
Dynamic Linearization
Full Form Dynamic Linearization
3.3.3
3.4
Systems
3.2.1
3.2.3
Modified
24
Conclusions
66
69
71
Systems
75
4.1
Introduction
75
4.2
77
Control
77
4.2.2
System Design
Controller Algorithm
4.2.1.2
PPD Estimation Algorithm
4.2.1.3
System Control Scheme
Stability Analysis
77
4.2.1.1
4.2.3
Simulation Results
87
4.2.1
4.3
Control
System Design
Controller Algorithm
4.3.1.1
PG Estimation Algorithm
4.3.1.2
4.3.1.3
System Control Scheme
78
79
80
93
93
94
94
95
Contents
4.4
Stability Analysis
4.3.3
Simulation Results
104
108
4.4.1
108
Control
System Design
4.4.1.1
Controller
4.4.1.2
PG Estimation
System
Algorithm
Algorithm
110
Ill
Control Scheme
111
Simulation Results
4.4.2
96
4.3.2
4.4.1.3
4.5
113
118
Conclusions
119
Systems
Introduction
119
120
5.2.1
Control
System Design
5.2.1.1
Controller
120
121
Algorithm
5.2.2
PJM
Algorithm
System Control Scheme
Stability Analysis
122
5.2.3
Simulation Results
132
5.2.1.2
Estimation
123
5.2.1.3
5.3
Control
System Design
5.3.1.1
Controller
136
Algorithm
137
5.3.2
PPJM
Algorithm
5.3.1.3
System Control Scheme
Stability Analysis
5.3.3
Simulation Results
Estimation
145
138
139
149
5.4.1
Control
System Design
149
5.4.1.1
Controller
150
5.4.1.2
5.4.1.3
5.4.2
5.5
134
134
5.3.1.2
5.4
124
5.3.1
vii
Algorithm
PPJM Estimation Algorithm
System Control Scheme
151
152
Simulation Results
153
156
Conclusions
Model-Free
Adaptive
Predictive Control
157
6.1
Introduction
157
6.2
158
6.2.1
Control
6.2.1.1
6.2.1.2
6.2.1.3
System Design
Controller Algorithm
PPD Estimation Algorithm and
Algorithm
Control Scheme
158
160
Prediction
161
162
viii
Contents
6.3
6.2.2
Stability Analysis
164
6.2.3
Simulation Results
167
171
6.3.1
171
6.3.1.1
Controller Algorithm
6.3.1.2
PG Estimation
Algorithm and
Prediction Algorithm
174
6.3.1.3
Control Scheme
176
177
182
6.4.1
182
Control
6.4.1.2
6.4.1.3
6.4.2
System Design
Controller Algorithm
PG Estimation Algorithm
Control Scheme
184
185
186
Simulation Results
188
Conclusions
190
Learning
Control
193
7.1
Introduction
193
7.2
195
7.2.1
195
7.2.2
Control
System Design
198
7.2.2.1
Controller
7.2.2.2
PPD Iterative
7.2.2.3
CFDL-MFAILC Scheme
7.3
174
6.5
System Design
Simulation Results
6.3.2
6.4
Control
Algorithm
Updating Algorithm
198
199
199
7.2.3
Convergence Analysis
200
7.2.4
Simulation Results
204
Conclusions
205
Introduction
8.2
MFAC for
207
Complex
Connected
Systems
208
8.2.1
Series Connection
209
8.2.2
Parallel Connection
212
8.2.3
Feedback Connection
214
8.2.4
Complex Interconnection
217
8.2.5
Simulation Results
219
8.2.5.1
Complex Interconnection
Modularized Controller Design
8.3.1
Estimation-Type Control System Design
8.3.2
Embedded-Type Control System Design
8.2.5.2
8.3
207
Design
219
220
223
223
229
Contents
8.3.2.1
8.3.2.2
Modularized Controller
for
8.3.3
8.4
9
229
Scheme
Repetitive Systems
232
Simulations
235
Conclusions
238
241
9.1
Introduction
241
9.2
242
9.2.1
Robust
242
9.2.2
Simulations
9.3
9.4
10
Design
ix
Stability Analysis
247
Robust
9.3-2
9.3.3
Simulations
247
Dropouts
249
Stability Analysis
Data-Dropped Compensation
252
258
Conclusions
259
261
10.1
261
10.2
Introduction
for
Symmetric Similarity
Adaptive
Design
10.2.1 Concepts and Design Principle of Symmetric
Similarity
10.2.2 Adaptive Control with Symmetric Similarity
Control
263
264
Structure
10.2.2.1
266
Control with
Adaptive
10.2.3
Symmetric Similarity
Systems
10.2.2.2 Adaptive Control with Symmetric Similarity
Structure for Nonlinear Systems
MFAC with Symmetric Similarity Structure
10.2.4
Simulations
10.2.4.1
266
270
272
273
Control with
Adaptive
Symmetric Similarity
Structure
276
MFAC with
10.3
10.4
10.2.4.2
Symmetric Similarity Structure ....278
280
Similarity between MFAC and MFAILC
between
and
Control
Iterative
Similarity
Adaptive
Learning
Control
10.4.1
283
Adaptive
Systems
287
10.4.1.1
Problem Formulation
287
10.4.1.2
Adaptive
287
Control
Design
Stability
Convergence Analysis
10.4.2 Adaptive ILC for Discrete-Time Nonlinear Systems
10.4.1.3
and
10.4.2.1
Problem Formulation
288
293
293
Contents
10.4.3
10.5
11
293
10.4.2.3
294
301
304
Conclusions
305
Applications
11.1
Introduction
305
11.2
Three-Tank Water
306
11.2.1
System
Experimental Setup
306
308
MFAC Scheme
308
308
309
11.2.2
11.2.2.1
11.2.3
11.2.3.1
11.2.3.2
11.3
309
Experimental Investigation
Permanent
11.3.1
11.3.2
309
Experiment
Experiment II
314
314
Permanent
316
11.3.1.1
316
11.3.1.2
MFAC Scheme
317
11.3.1.3
Experiments
319
325
Experimental Setup
325
11.3.2.1
11.4
11.5
11.6
11.7
326
Gantry System
11.3.2.3
326
Freeway
Traffic
329
11.4.1
Experiments
System
331
333
11.4.3
Simulations
334
Welding
11.5.1 Experimental Setup
339
Process
339
11.5.2
Control Scheme
340
11.5.3
Simulations
341
11.5.4
Experimental Investigation
341
343
11.6.2
Control Scheme
11.6.3
Static
Conclusions
Loading Experiment
Loading
Control
System
345
346
347
348
Contents
12
Conclusions and
Perspectives
xi
351
12.1
Conclusions
351
12.2
Perspectives
353
References
355
Index
371