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New PDF release: Adaptive backstepping control of uncertain systems:

By Jing Zhou, Changyun Wen

ISBN-10: 3540778063

ISBN-13: 9783540778066

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"‘The ebook is beneficial to benefit and comprehend the elemental backstepping schemes’. it may be used as an extra textbook on adaptive keep watch over for complex scholars. keep an eye on researchers, in particular these operating in adaptive nonlinear regulate, also will generally take advantage of this book." (Jacek Kabzinski, Mathematical reports, factor 2009 b)

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67) Control Design 43 where c1 and l1 are two positive real design parameters, θˆ and qˆ denotes the estimates of θ and q. e. ˆbm = eT θ. 69) ˆ and a,2 and b,2 represent the second entries of where θ˜ = θ − θ, proceed, we define the Lyapunov function V1 = a and 1 2 1 ˜T −1 ˜ 1 1 2 z + θ Γ θ+ q˜ + V 2 1 2 2γ 4l1 b. 70) where Γ is a positive definite matrix and γ is a positive constant. 76) |z1 | < δ 4 ¯ is bounded. 2 Now, we evaluate the dynamics of the second state z2 . 79) where Π = [ξ T , V ec(Ξ)T ]T .

Due to these difficulties, it is noticed that, in comparison with the vast amount of results on controller design for SISO systems in control area, there are relatively fewer results available for a general class of MIMO systems. Adaptive backstepping control for a class of linear MIMO systems was studied in [85, 86, 87]. In [85] there exists a restrictive assumption about the high frequency gain Bm that a matrix Sm must be known such that Bm Sm = (Bm Sm )T > 0. In [86] a similar restriction is relaxed using the factorization of high frequency gain.

17) is stable. This is sufficient if sv +k1 sv−1 +. +kv−1 s+kv is a Hurwitz polynomial. 18) Preliminary Results 55 where ⊗ is the Kronecker product, and ei is the ith coordinate vector in Rv . We also denote vectors ξv (t), ξ(t), vj (t), as the outputs of the filters ξ˙v = A0 ξv + Ky ξ˙i = A0 ξi + Ev−i y i = 0, 1, . . 20) v˙ j = A0 vj + Ev−j u j = 0, 1, . . 21) T T T where ξv = [ξv,1 , . . , ξv,v ] . 23) j=0 ¯ i = diag[Bi , . . , Bi ] ∈ Rn×n . where A¯i = diag[Ai , . . 3. 25) exponentially.

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Adaptive backstepping control of uncertain systems: Nonsmooth nonlinearities, interactions or time-variations by Jing Zhou, Changyun Wen


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