1 WHAT IS ADAPTIVE CONTROL? 1.1 Introduction 1.2 Linear Feedback 1.3 Effects of Process Variations 1.4 Adaptive Schemes 1.5 The Adaptive Control Problem 1.6 Applications 1.7 Conclusions Problems References 2 REAL-TIME PARAMETER ESTIMATION 2.1 Introduction 2.2 Least Squares and Regression Models 2.3 Estimating Parameters in Dynamical Systems 2.4 Experimental Conditions 2.5 Simulation of Recursive Estimation 2.6 Prior Information 2.7 Conclusions Problems References 3 DETERMINISTIC SELF-TUNING REGULATORS 3.1 Introduction 3.2 Pole Placement Design 3.3 Indirect Self-tuning Regulators 3.4 Continuous-Time Self-tuners 3.5 direct Self-tuning Regulators 3.6 Disturbances with Known Characteristics 3.7 Conclusions Problems References 4 STOCHASTIC AND PREDICTIVE SELF-TUNING REGULATORS 4.1 Introduction 4.2 Design of Minimum-Variance and Moving-Average Controllers 4.3 Stochastic Self-tuning Regulators 4.4 Unification of Direct Self-tuning Regulators 4.5 Linear Quadratic STR 4.6 Adaptive Predictive Control 4.7 Conclusions Problems References 5 MODEL-REFERENCE ADAPTIVE SYSTMES 5.1 Introduction 5.2 The MIT Rule 5.3 Determination of the Adaptation Gain 5.4 Lyapunov Theory 5.5 Design of MRAS Using Lyapunov Theory 5.6 Bounded-Input,Bounded-Output Stability 5.7 Applications to Adaptive Control 5.8 Output Feedback 5.9 Relations between MRAS and STR 5.10 Nonlinear Systems 5.11 Conclusions Problems References 6 PROPERTIES OF ADAPTIVE SYSTEMS 6.1 Introduction 6.2 Nonlinear Dynamics 6.3 Adaptation of a Feedforward Gain 6.4 Analysis of Indirect Discrete-Time Self-tuners 6.5 Stability of Direct Discrete-Time Algorithms 6.6 Averaging 6.7 Application of Averaging Techniques 6.8 Averaging in Stochastic Systems 6.9 Robust Adaptive Controllers 6.10 Conclusions Problems References 7 STOCHASTIC ADAPTIVE CONTROL 7.1 Introduction 7.2 Multistep Decision Problems 7.3 The Stochastic Adaptive Problem 7.4 Dual Control 7.5 Suboptimal Strategies 7.6 Examples 7.7 Conclusions Problems References 8 AUTO-TUNING 8.1 Introduction 8.2 PID Control 8.3 Auto-tuning Techniques 8.4 Transient Response Methods 8.5 Methods Based on Relay Feedback 8.6 Relay Oscillations 8.7 Conclusions Problems References 9 GAIN SCHEDULING 9.1 Introduction 9.2 The Principle 9.3 Design of Gain-Scheduling Controllers 9.4 Nonlinear Transformations 9.5 Applications of Gain Scheduling 9.6 Conclusions Problems References 10 ROBUST AND SELF-OSCILLATING SYSTEMS 10.1 Why Not Adaptive Control? 10.2 Robust High-Gain Feedback Control 10.3 Self-oscillating Adaptive Systems 10.4 Variable-Structure Systems 10.5 Conclusions Problems References 11 PRACTICAL ISSUES AND IMPLEMENTATION 11.1 Introduction 11.2 Controller Implementation 11.3 Controller Design 11.4 Solving the Diophantine Equation 11.5 Estimator Implementation 11.6 Square Root Algorithms 11.7 Interaction of Estimation and Control 11.8 Probotype Algorithms 11.9 Operational Issues 11.10 Conclusions Problems Peferences 12 COMMERCIAL PRODUCTS AND APPLICATIONS 12.1 Introduction 12.2 Status of Applications 12.3 Industrial Adaptive Controllers 12.4 Some Industrial Adaptive Controllers 12.5 Process Control 12.6 Automobile Control 12.7 Ship Steering 12.8 Ultrafiltration 12.9 Conclusions References 13 PERSPECTIVES ON ADAPTIVE CONTROL 13.1 Introduction 13.2 Adaptive Signal Processing 13.3 Extremum Control 13.4 Expert Control Systems 13.5 Learing Systems 13.6 Future Trends 13.7 Conclusions References INDEX
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