Download Adaptive control : stability, convergence, and robustness by Shankar Sastry PDF

By Shankar Sastry

This quantity surveys the foremost effects and strategies of study within the box of adaptive keep an eye on. concentrating on linear, non-stop time, single-input, single-output structures, the authors supply a transparent, conceptual presentation of adaptive tools, allowing a serious assessment of those suggestions and suggesting avenues of additional improvement. 1989 version

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There exist various approaches to resolve this problem, of which the Kalman filter is one of the most significant and applicable solutions. The unscented Kalman filter (UKF) essentially addresses the approximation issues of the extended Kalman filter (EKF) [32]. The state distribution is represented by Gaussian random variables (GRV) but is specified using a minimal set of carefully chosen sample points that completely capture the true mean and covariance of the GRV. When propagated through a true nonlinear system, it captures the posterior mean and covariance accurately to the second order (Taylor series expansion) for any nonlinearity.

9] Montgomery, R. , and Caglayan, A. K. (1976) “Failure accommodation in digital flight control systems by Bayesian decision theory”, J. Aircraft, 13(2):69–75. [10] Montgomery, R. , and Price, D. B. (1976) “Failure accommodation in digital flight control systems for nonlinear aircraft dynamics. J. Aircraft, 13(2):76–82. , Bøgh, S. , and Lunau, C. P. (1997) “Fault-tolerant control systems: A holistic view”, Control Engineering Practice, 5(5):693–702. , Patton, R. , and Staroswiecki, M. ”, in Proc.

A fault model can then be constructed by adding extra holes to each tank. 2 Fault scenarios in QTS Two fault scenarios are created when using the quadruple tank system in the simulation program. , leakages) are created by changing system parameters manually at certain times in the simulation. 1. 81 is 30 % of the cross-section of the outlet hole of Tank 1) at 350 seconds. 54 is 20 % of the cross-section of the outlet of the Tank 3) at 350 seconds. 9 (where r shows the standard deviation of measurement) Q = q2 × I(n) (where Q represents the covariance of process and I(n) is the unit matrix of order n) R = r2 (where R represents the covariance of measurement) Step 2: Define the states and measurement equation of the system: f = (x)[x(1); x(2); x(3); x(4); x(5); x(6)] (where f represents the nonlinear state equations) h = x(1); (where h represents the measurement equation) s = [0; 0; 1; 0; 1; 1] (where s defines the initial state) x = s + q × randn(6, 1) (where x defines the initial state with noise) P = I(n) (where P defines the initial state covariance) N (where N presents the total dynamic steps) Step 3: Upgrade the estimated parameter under observation: for k = 1 : N x1 (1) = initializing, x2 (1) = initializing x3 (1) = initializing, x4 (1) = initializing x5 (1) = initializing, x6 (1) = initializing; H = [x1 (k); x2 (k); x3 (k); x4 (k); x5 (k); x6 (k)] z = h(s) + r × randn; (measurements) sV (:, k) = s; (save actual state) zV (:, k) = z; (save measurement) Then inject into the following equation (function): [x, P] = ukf (x, P, hmeas, z, Q, R, h) There will be three functions to complete the process.

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