This monograph is focused on control law design methods for asymptotic tracking and disturbance rejection in the presence of uncertainties. The methods are based on adaptive implementation of the Internal Model Principle (IMP). The monograph shows how this principle can be applied to the problems of asymptotic rejection/tracking of a priori uncertain exogenous signals for linear and nonlinear plants with known and unknown parameters.

The book begins by introducing the problems of adaptive control, the challenges that are faced, modern methods and an overview of the IMP. It then introduces special observers for uncertain exogeneous signals affecting linear and nonlinear systems with known and unknown parameters. The basic algorithms of adaptation applied to the canonical closed-loop error models are presented. The authors then address the systematic design of adaptive systems for asymptotic rejection/tracking of a priori uncertain exosignals. The monograph also discussesthe adaptive rejection/tracking of a priori uncertain exogenous signals in systems with input delay, the problems of performance improvement in disturbance rejection and reference tracking and the issue of robustness of closed-loop systems.

Adaptive Regulation provides a systematic discussion of the IMP applied to a variety of control problems, making it of interest to researchers and industrial practitioners.

Autorentext

Vladimir O. Nikiforov received his Electrical Engineering Degree, PhD and Doctor of Science degrees from what is currently known as Saint-Petersburg University of Information Technologies, Mechanics and Optics (ITMO University), in 1986, 1991 and 2001 respectively. Since 1986, Nikiforov has been working in different positions at ITMO University, and since 2001 he has been a Professor in the Faculty of Control Systems and Robotics. He has also worked part time as a senior researcher at other institutions. From 2003 to 2008 V. Nikiforov acted as Associate Editor of Automatica IFAC Journal and he is currently Editor-in-Chief of the journals Control Engineering Russia and Scientific and Technical Journal of Information Technologies, Mechanics and Optics. He has authored or co-authored more than 150 titles, including 5 monographs and 3 textbooks. His research interests are primarily within adaptive and nonlinear control of complex systems, trajectory control of linear and nonlinear systems and adaptive regulation and servomechanism problems.

Dmitry N. Gerasimov gained his electrical engineering degree and PhD from ITMO University in 2005 and 2009 respectively. Since 2009, Dmitry Gerasimov has been with the Department of Control Systems and Informatics at ITMO University and, currently, he holds a position of associate professor of the Faculty of Control Systems and Industrial Robotics. His research interests are in adaptive and robust control, nonlinear control, delayed systems, automation systems and industrial controllers, and spark ignition and diesel engine modelling and control. He has authored or co-authored more than 50 titles.

Inhalt

1. Problem Statement.- 2. Internal Model Principle: Overview of Theoretical Approaches.- 3. Basic Schemes of Adaptation Algorithms.- 4. Parametric Models for Adaptive Control Design.- 5. Adaptive Tracking Reference Signals.- 6. Adaptive Rejecting External Disturbances.- 7. Adaptive Tracking in Systems with Input Delay.- 8. Adaptive Compensation in Systems with Input Delay.- 9. Internal Model Principle: Overview of Practical Applications.