Abstract
In this chapter, we introduce formal methods and practical tools from dynamics and control. Our intent is to design, analyze, and evaluate robust and adaptive control algorithms for continuous dynamical systems. We begin our material with the presentation of optimal control algorithms to regulate linear-time-invariant systems while enforcing adequate stability margins, and thus providing necessary robustness properties to the overall design. We then introduce output feedback architectures to design optimal controllers for linear systems whose states are not available as measurements. We shall also discuss numerically efficient analysis methods to evaluate the robustness of the synthesized linear controllers. All these topics are covered in Part I of this book, whereby many examples are given to help the reader isolate and focus on the key points and features of the presented methodologies. Part II covers adaptive methods to control both linear and nonlinear systems with uncertainties in their dynamics. The material is self-contained. It includes a brief introduction into Lyapunov’s stability, followed by an exposition of model reference adaptive controllers, with their design and analysis methods illustrated on a series of practical examples from aerospace applications. After we introduce what is now known as the “classical adaptive control,” we focus our attention on extensions and design modifications to improve transient performance and utilize output measurements (as opposed to state feedback connections). Also, in this chapter, we offer design methods to combine robust and adaptive controllers into a unified resilient to uncertainties control architecture. Throughout the book, we will always strive to motivate and rationalize problem formulations, their solutions, and practicality of the methods.
An erratum to this chapter can be found at http://dx.doi.org/10.1007/978-1-4471-4396-3_15
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Etkin, B.: Dynamics of Flight. Stability and Control, 2nd edn. Wiley, New York (1982)
McRuer, D., Ashkenas, I., Graham, D.: Aircraft Dynamics and Automatic Control. Princeton University Press, Princeton (1990)
Stevens, B.L., Lewis, F.L.: Aircraft Control and Simulation. Wiley, New York (1992)
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this chapter
Cite this chapter
Lavretsky, E., Wise, K.A. (2013). Introduction. In: Robust and Adaptive Control. Advanced Textbooks in Control and Signal Processing. Springer, London. https://doi.org/10.1007/978-1-4471-4396-3_1
Download citation
DOI: https://doi.org/10.1007/978-1-4471-4396-3_1
Published:
Publisher Name: Springer, London
Print ISBN: 978-1-4471-4395-6
Online ISBN: 978-1-4471-4396-3
eBook Packages: EngineeringEngineering (R0)