Nonlinear and Adaptive ControlNCN42001(英文)Alan Zin

文件名称: Nonlinear and Adaptive ControlNCN42001(英文)

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详细说明：Nonlinear and Adaptive ControlNCN42001(英文)Nonlinear and Adaptive ControlNCN42001(英文)Alan Zinober, David Owens(Eds) Nonlinear and Adaptive control NCN42001 with 88 Figures Springer Series advisory board A Bensoussan.p fleming .m. grimble.p Kokotovic A.B. Kurzhanski.h kwakernaak .jn Tsitsiklis Editors Professor alan zinober The University of Sheffield Departement of AppliedMathematics Western bank Sheffield s10 2TN UK Professor david owens The University of Sheffield Dept of Automatic Control and Systems Engineerin Mappin street Sheffield s1 3jd UK Library of Congress Cataloging-in-Publication Data Nonlinear and Adadtive Control(4th: 2001: University of Sheffield) NCN 2001/ Alan Zinober, David Owens(eds) p. cm-(Lecture notes in control and information sciences; 281) Network, held at the University of Sheffield, 25-28 June, zll op of the Nonlinear Control Contains 31 papers based on talk delivered at the 4th Workshe ISBN3-540-43240-X 1. Nonlinear control theory--Congresses L. Zinober, A SI(Alan S.L. )II. Owens, D. H. (David H )III. Title. IV Series QA402.35W672001 629836-dc21 20 02026832 isBN3-540-43240-X Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the mate- rial is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation broadcasting, reproduction on microfilm or in other ways, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution act under German Copyright Law Springer-Verlag Berlin Heidelberg New York a member of Bertelsmann Springer Science Business Media gmbh http://www.springer.de O Springer-Verlag Berlin Heidelberg 2003 Printed in germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use Typesetting: Digital data supplied by author. Data-conversion by PTP-Berlin, Stefan Sossna e K. Cover-Design: design production GmbH, Heidelberg Printed on acid-free paper SPIN 1086475 62/3020Rw-543210 Preface This volume contain thirty-one papers based on talks delivered at the 4th WorkshopoftheNonlinearControlNetwork(http://www.shef/ncn4),held at The University of Sheffield, 25-28 June. 200 We would like to emphasize one peculiarity of our field: nonlinear control is an example of a theory situated at a crossroad between mathematics and engineering science. Due to this position, nonlinear control has its roots in both fields and, as we deeply believe, can bring new ideas and new results for both domains. The book reflects very well this " double character of nonlinear control theory: the reader will find in it results which cover a wide variety of problems: starting from pure mathematics, through its applications to nonlinear feed back design, and all the way to recent industrial advances The following delivered invited talks at the Workshop Frank Allgower, Alessandro Astolfi, Riccardo Marino Francoise Lamnabhi-Lagarrigue, Wei Lin and Malcolm Smith Altogether the book contains 31 papers and therefore it is impossible to mention here all the discussed topics We wish to thank all invited speakers and contributors to the 4th Non- linear Control Network Workshop for making this conference an outstand ing intellectual celebration of the area of Nonlinear Control. We would like to thank the TMR Program for the financial support which, in particular, helped numerous young researchers in attending the Workshop. Many thanks to our local administrative helpers; Nirvana Bloor, Marianna Keray, Lynda Harrison, Ali Jafari Koshkouei, Russ Mills and Alex Price. Also, greatly ap. preciated thanks are extended to Ali Jafari Koshkouei for his very patient and attentive final checking of the complete manuscript Alan Zinober David Owens Sheffield, UK November 2001 Contents Invariant manifolds, asymptotic immersion and the(adaptive) stabilization of nonlinear systems Alessandro Astolfi, Romeo Ortega 1 Introduction 2 Asymptotic stabilization via immersion and invariance 1146 3 Robustification vis a vis high order dynamics 4 Adaptive control via immersion and invariance 5 Conclusions and outlook 18 References 19 Robust control of a nonlinear fluidics problem 21 Lubimor baramot, Owen Tutty, Eric Rogers 1 Introduction 21 2 Mathematical models 3 Control design 28 4 Results and conclusions 重日 References Optimal control of the Schrodinger equation with two or three levels 33 Ugo Boscain, Gregoire Charlot, Jean-Paul gauthier 1 Introduction 33 2 The two levels case ·····请 35 3 The resonant problem with three levels.,..,,...,.,.,37 4 The counter intuitive solutions 5 Conclusion 42 References 42 Strong robustness in adaptive control ,,,,,,,,,,,45 Maria Cadic. an willem Polderman 1 Introduction 45 2 General setup : 46 3 Strong robustness and strongly robust stability radius 47 4 Existence of strongly robust sets 49 5 Strong robustness and open balls of systems 50 6 Conclusion 重 54 References 54 ⅥIII ontents On composition of Dirac structures and its implications for control by interconnection oaquin Cervera, Arjan J. van der Schaft, Alfonso Barios 1 Introduction 55 2 Parametrization of kernel/image representations n.,,56 3 Dirac structures composition expression 58 4 Application example 61 5 Conclusions 62 References 63 Adaptive nonlinear excitation control of synchronous generators. 65 Gilney Damm, Riccardo Marino, Francoise Lamnabhi-Lagarrigue 1 Introduction.......,,,,,,,,,,.,,,,,…, 65 2 Dynamical model 66 3 Adaptive controller and main result 69 4 Simulation results 74 5 Conclusions Referenc 76 Parameter identification for nonlinear pneumatic cylinder actuators N A. Daw, Wang, Q.H. Wu, J. Chen, and Y. Zhao 1 Introduction 77 2 Mathematical model of pneumatic actuators 78 3 Static friction measurement ■■曹■曹曹 ,81 4 Description of Genetic Algorithms for parameter identification 82 5 Experiment and simulation results 83 6 Conclusion 86 References 87 The quasi-infinite horizon approach to nonlinear model predictive control 89 Rolf Findeisen, Frank: Allgower 1 Introduction to nonlinear model predictive control 89 2 Quasi-infinite horizon NMPC 94 3 Some results on output feedback NMPC ...98 4 Some remarks on the efficient numerical solution of NMPC 102 5 Application example-real-time feasibility of NMPC 103 6 Conclusions 104 References 105 State and parameter identification for nonlinear uncertain systems using variable structure theory 109 Fabienne Floret. Pontet, Francoise Lamnabhi-Lagarrigrue 1 Introduction 109 2 State identification ,,,,111 Contents 3 Parameter identification ,,,,,,,,,115 4 Simultaneous state and parameter identification n,,,,,,,118 5 Simulations results 1.· 119 6 Conclusion 127 References ...,128 Stabilizing memoryless controllers and controls with memory for a class of uncertain. bilinear systems with discrete and distributed delays.......... 曹曹 129 D.P. Goodall 1 Introduction 129 2 Preliminaries and nomenclature ,,,.,,130 3 Problem statement 130 4 Hypotheses 131 5 Stability results 133 6 Example .....,.136 7 Concluding remarks 137 References .138 Sliding mode control of a full-bridge unity power factor rectifier. 139 Robert grind, Enric Fossas, Domingo Biel 1 Introduction ,139 2 Problem formulation 140 3 Steady-state and zero-dynamics analysis............. 141 4 Control design 1曹曹曹曹曹 143 5 Parameter analysis 144 6 Simulation results...................... 146 7 Conclusions 14 References 148 Flatness-based control of the induction drive minimising energy dissipation 重曹曹重曹自曹重曹 149 Veit Hagemeyer, Andrea Ranftl, Emmanuel delaleau 1 Introduction 149 2 Model of the motor 150 3 Control of the reduced order model 152 4 Tracking control of the complete model 155 5 Simulation results ,,,,,,,,,,,,,,.,,,.,,157 6 Conclusion..........,,...... 159 References 159 Exact feedforward linearisation based on differential flatness: The siso case .,,,161 Veit Hagemeyer, Emmanuel delaleau I Introduction 161 2 Exact feedforward linearisation based on differential flatness..., 162 Contents 3 Exact feedforward linearisation and control law design 164 4 Structure of the error equation 165 5 Extended PID control 166 6 Stability 166 References .,.,,170 Local controlled dynamics 171 Efthimios Kappos 1 Control system basics .171 2 Accessible sets 173 3 Control-transverse geometric objects 176 4 Variations of transverse objects and the Conley index 179 5 Concluding remarks m曹重重曹 .180 References 180 Adaptive feedback passivity of nonlinear systems with slidin noce 曹■ ..181 Ali Koshkouei. alan s.i. zinober 1 Introduction .181 2 Passivation of nonlinear systems 182 3 Sliding mode of passive systems 184 4 Sliding mode of linear systems with passivation .186 5 Adaptive passivation of nonlinear systems 190 6 Example: Gravity-flow/pipeline system.............191 7 Conclusions n,,,193 References 194 Linear algebraic tools for discrete-time nonlinear control systems with Mathematica 195 U. Kotta. M. TOnso 2 Linear algebraic framewoy·… 1 Introduction 195 196 3 Solutions of the control problems in terms of the HR subspaces 197 4 Symbolic implementation using Mathematica 202 Re eterences ,,,,,,,,,,,,,,,,,,,,204 Adaptive compensation of multiple sinusoidal disturbances with unknown frequencies 207 Riccardo marino. giovanni santosuosso, patrizio tomea 1 Introduction 207 2 Adaptive compensation design 209 3 Stability analysis ...213 4 Extension to m sinusoidal disturbances 217 5 An illustrative example 220 6 Conclusions 224 References 224 Contents Backstepping algorithms for a class of disturbed nonlinear nontriangular systems 227 Russell E. Mills. ALi Koshkouei. Alan S. I. Zinober 1 Introduction 227 2 Applicable class of systems 228 3 DAB algorithm for disturbed systems 4 Combined sliding backstepping control of disturbed systems 234 5 Example ·里1遭重■ 236 6 Conclusions 237 Referer 237 Nonminimum phase output tracking using sliding modes 239 Govert Monsees, Jacquelin Scherpen 1 Introduction 239 2 Method of dichotomies 241 3 Bounded preview time 244 4 Bounded preview time with sliding mode control 245 5 Simulation 246 6 Conclusions ....,247 References 248 Goursat distributions not strongly nilpotent in dimensions not exceeding seven 249 Piotr mormal 1 Introduction: geometric classes(basic geometry) of Goursat germs. 249 2 Kumpera-Ruiz algebras. Theorems of the paper 251 3 Nilpotency orders of KR algebras- proof of Thm. I........254 4 Nilpotent approximations of Goursat germs often are not Goursat (proof of Theorem 3) 258 References 260 Stabilizability for boundary-value control systems using symbolic calculus of pseudo-differential operators 263 Markku T. Nihtila, Jouko Tervo 1 Introduction 263 2 State space equation 265 3 On transfer function analysis of coercive problems 268 4 Transfer function manipulations by symbols 269 References 272 Multi-periodic nonlinear repetitive control: Feedback stability analysis......... ::.:.:.:.:审 275 David H. Owens, Liangmin Li, Steve P. Banks 1 Introduction 275 2 Lyapunov stability analysis 275

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