tailieunhanh - Kiểm soát và ổn định thích ứng dự toán cho các hệ thống phi tuyến P1

Overview The goal of a control system is to enhance automation within a system while providing improved performance and robustness. For instance, we may develop a cruise control system for an automobile to release drivers from the tedious task of speed regulation while they are on long trips. In this case, the output of the plant is the sensed vehicle speed, y, and the input to the plant is the throttle angle, u, as shown in Figure . Typically, control systems are designed so that the plant output follows some reference input (the driver-specified speed in the case of our. | Stable Adaptive Control and Estimation for Nonlinear Systems Neural and Fuzzy Approximator Techniques. Jeffrey T. Spooner Manfredi Maggiore Raul Ordonez Kevin M. Passino Copyright 2002 John Wiley Sons Inc. ISBNs 0-471-41546-4 Hardback 0-471-22113-9 Electronic Chapter- Introduction Overview The goal of a control system is to enhance automation within a system while providing improved performance and robustness. For instance we may develop a cruise control system for an automobile to release drivers from the tedious task of speed regulation while they are on long trips. In this case the output of the plant is the sensed vehicle speed y and the input to the plant is the throttle angle u as shown in Figure . Typically control systems are designed so that the plant output follows some reference input the driver-specified speed in the case of our cruise control example while achieving some level of disturbance rejection. For the cruise control problem a disturbance would be a road grade variation or wind. Clearly we would want our cruise controller to reduce the effects of such disturbances on the quality of the speed regulation that is achieved. Figure . Closed loop control. In the area of robust control the focus is on the development of controllers that can maintain good performance even if we only have a poor model of the plant or if there are some plant parameter variations. In the area of adaptive control to reduce the effects of plant parameter variations robustness is achieved by adjusting . adapting the controller on-line. 2 Introduction For instance an adaptive controller for the cruise control problem would seek to achieve good speed tracking performance even if we do not have a good model of the vehicle and engine dynamics or if the vehicle dynamics change over time . via a weight change that results from the addition of cargo or due to engine degradation over time . At the same time it would try to achieve good disturbance rejection. Clearly