Safe Adaptive Control Data-Driven Stability Analysis and Robust Synt
Safe Adaptive Control gives a formal and complete algorithm for assuring the stability of a switched control system when at least one of the available candidate controllers is stabilizing. The possibility of having an unstable switched system even in the
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Margareta Stefanovic and Michael G. Safonov
Safe Adaptive Control Data-Driven Stability Analysis and Robust Synthesis
ABC
Series Advisory Board P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Authors Prof. Margareta Stefanovic University of Wyoming Dept. Electrical & Computer Engineering 1000 E. University Ave. Laramie, Wyoming 82071 USA E-mail: [email protected]
Prof. Michael G. Safonov University of Southern California Dept. Electrical Engineering 3740 McClintock Ave. Los Angeles, California 90089 Hughes Aircraft Electrical Engin.Bldg. USA E-mail: [email protected]
ISBN 978-1-84996-452-4
e-ISBN 978-1-84996-453-1
DOI 10.1007/978-1-84996-453-1 Lecture Notes in Control and Information Sciences c
ISSN 0170-8643
Springer-Verlag London Limited 2011
This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, 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. Violations are liable for prosecution under the German Copyright Law. 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. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed in acid-free paper 543210 springer.com
To the memory of my father Margareta Stefanovic
Dedicated to my loving wife, Janet Michael Safonov
Preface
This monograph is intended to present a unifying theory of adaptive control, providing a theoretical framework within which all adaptive methods and iterative learning algorithms can be interpreted, understood and analyzed. The concept of the unfalsified cost level central to this theory leads to a simple framework for understanding the causes and cures for model mismatch instability. The need for an encompassing theory such as this stems from the control and stability issues of highly uncertain systems. After decades of adaptive control development, the opinions in the research community are still divided over what assumptions need and must be made about the controlled plant and its environment in order to assure stable operation, and hence resulting robustness of adaptive control algorithms. The study presented here unifies the results obtained in the last decade in developing a working theory of the safe adaptive control, that is, control with stability guarantees under a minimal knowledge of the plant and operating conditions, and as few prior assumptions as possible. We hope that the book will prove to be a helpful means to learn and understand the
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