Readers will acquire a well-developed sense of when to use adaptive techniques and when other methods are more Karl J. Åström,Björn Wittenmark Karl A. Åström is the author of Dover’s Introduction to Stochastic Control Theory. Solution Manual for Adaptive Control Second Edition Karl Johan Åström Björn Wittenmark Preface This Solution Manual contains solutions to selected problems. Adaptive Control: Second Edition By: Karl J. Åström, Dr. Björn Wittenmark. Additional topics include gain scheduling, robust high-gain control and.
|Published (Last):||17 November 2015|
|PDF File Size:||5.91 Mb|
|ePub File Size:||18.57 Mb|
|Price:||Free* [*Free Regsitration Required]|
Adaptive Control – Karl Johan Åström, Björn Wittenmark – Google Books
My library Help Advanced Book Search. The Ziegler-Nichols method is not the best tuning method in this astom. Second Edition Karl J. According to adaptvie Routh Hurwitz criterion the critical case is r 3 10 0. Second Edition Adaptive Control: Also notice that b 2. Click here to sign up. Process output, control signal and estimated parameter b are shown for the indirect continuous-time self-tuning regulator. If no prior knowledge is available we thus have to update these four parameters.
Compare with adaptice discussion of cautious control on pages — This follows since the controller gain is chosen so that the closed loop system is stable. Process output and control signal are shown for the indirect self-tuning regulator when the process zero is canceled.
Adaptive Control: Second Edition
First derive the error equation. Their insights into properties, design procedures, and implementation of adaptive controllers are complemented by the numerous examples, simulations, and problems that appear throughout the book. Starting with a broad overview, the text explores real-time estimation, self-tuning regulators and model-reference adaptive systems, stochastic adaptive control, and automatic tuning of regulators. Readers will acquire a well-developed sense of when to use adaptive techniques and when other methods are more appropriate.
Figure 7 shows a simulation of the controller obtained when the polynomial B is canceled.
Concluding chapters feature a summary of applications and a brief review of additional areas closely related to adaptive control. We see the typical ringing phenomena obtained with a controller that cancels a poorly damped zero.
Process and model outputs, Left bottom: Introduction of regressor filters. In Figure 8 we show a simulation of the controller with no cancellation.
To avoid this we will develop an algorithm where the process zero is not canceled. Again we separate two cases. Process and model outputs, Right bottom: Solution Adaptive Control 2nd. The equations for updating the parameters are derived in the usual way.
Their insights into properties, controp procedures, and implementation of adaptive controllers are complemented astrm the numerous examples, simulations, and problems that appear throughout the book. Process and model states, x1 fullxm1 dashedx2 dottedand xm2 dash-dotted. Readers will acquire a well-developed k of when to use adaptive techniques and when other methods are more appropriate. Hence the transfer function G s is SPR. The controller parameters are then given by Table 8.
From the analysis of the indirect STR we know that a first order observer is required, i. Estimated parameters r1 fulls0 dashedand t0 dotted. The following computer code is then obtained: The reason for this is that the regressor associated with a is 1 but the regressor associated with b is t.
Conversely if the equations are solved for a and b we obtain the parameters of the process model that corresponds to given controller parameters. This kar, difficult because there will not be an exact cancellation. Block diagram in Problem 5.
Stability, Convergence and Robustness. Second Edition Add to Wishlist.
asttrom It is thus easy to explain the behavior of the algorithm from the system identification point of view. Readers will acquire a well-developed sense of when to use adaptive Reprint of the Addison-Wesley, Reading Massachusetts, second edition.
To get some insight into what happens when uc changes we will give a simulation where uc is a triangular wave with varying period.
Process full and model dashed output. The controller should have an integrator and the stationary gain should be 1. This shows the behavior of the system when uc is a square wave.
Remember me on this computer.