| Preface | p. xiii |
| Introduction | p. 1 |
| Identification and Adaptive Control | p. 1 |
| Approaches to Adaptive Control | p. 4 |
| Gain Scheduling | p. 4 |
| Model Reference Adaptive Systems | p. 5 |
| Self Tuning Regulators | p. 8 |
| Stochastic Adaptive Control | p. 9 |
| A Simple Example | p. 11 |
| Preliminaries | p. 17 |
| Notation | p. 17 |
| Lp Spaces, Norms | p. 18 |
| Positive Definite Matrices | p. 19 |
| Stability of Dynamic Systems | p. 20 |
| Differential Equations | p. 20 |
| Stability Definitions | p. 23 |
| Lyapunov Stability Theory | p. 25 |
| Exponential Stability Theorems | p. 28 |
| Exponential Stability of Nonlinear Systems | p. 28 |
| Exponential Stability of Linear Time-Varying Systems | p. 32 |
| Exponential Stability of Linear Time Invariant Systems | p. 38 |
| Generalized Harmonic Analysis | p. 39 |
| Identification | p. 45 |
| Introduction | p. 45 |
| Identification Problem | p. 52 |
| Identifier Structure | p. 53 |
| Linear Error Equation and Identification Algorithms | p. 57 |
| Gradient Algorithms | p. 58 |
| Least-Squares Algorithms | p. 61 |
| Properties of the Identification Algorithms-Identifier Stability | p. 63 |
| Gradient Algorithms | p. 63 |
| Least-Squares Algorithms | p. 66 |
| Stability of the Identifier | p. 69 |
| Persistent Excitation and Exponential Parameter Convergence | p. 71 |
| Model Reference Identifiers-SPR Error Equation | p. 76 |
| Model Reference Identifiers | p. 76 |
| Strictly Positive Real Error Equation and Identification Algorithms | p. 82 |
| Exponential Convergence of the Gradient Algorithms with SPR Error Equations | p. 85 |
| Frequency Domain Conditions for Parameter Convergence | p. 90 |
| Parameter Convergence | p. 90 |
| Partial Parameter Convergence | p. 95 |
| Conclusions | p. 98 |
| Adaptive Control | p. 99 |
| Introduction | p. 99 |
| Model Reference Adaptive Control Problem | p. 103 |
| Controller Structure | p. 104 |
| Adaptive Control Schemes | p. 110 |
| Input Error Direct Adaptive Control | p. 111 |
| Output Error Direct Adaptive Control | p. 118 |
| Indirect Adaptive Control | p. 123 |
| Alternate Model Reference Schemes | p. 127 |
| Adaptive Pole Placement Control | p. 129 |
| The Stability! Problem in Adaptive Control | p. 130 |
| Analysis of the Model Reference Adaptive Control System | p. 132 |
| Useful Lemmas | p. 138 |
| Stability Proofs | p. 142 |
| Stability-Input Error Direct Adaptive Control | p. 142 |
| Stability-Output Error Direct Adaptive Control | p. 149 |
| Stability-Indirect Adaptive Control | p. 151 |
| Exponential Parameter Convergence | p. 154 |
| Conclusions | p. 156 |
| Parameter Convergence Using Averaging Techniques | p. 158 |
| Introduction | p. 158 |
| Examples of Averaging Analysis | p. 159 |
| Averaging Theory-One-Time Scale | p. 166 |
| Application to Identification | p. 175 |
| Averaging Theory-Two-Time Scales | p. 179 |
| Separated Time Scales | p. 183 |
| Mixed Time Scales | p. 186 |
| Applications to Adaptive Control | p. 187 |
| Output Error Scheme-Linearized Equations | p. 188 |
| Output Error Scheme-Nonlinear Equations | p. 192 |
| Input Error Scheme | p. 202 |
| Conclusions | p. 207 |
| Robustness | p. 209 |
| Structured and Unstructured Uncertainty | p. 209 |
| The Rohrs Examples | p. 215 |
| Robustness of Adaptive Algorithms with Persistency of Excitation | p. 219 |
| Exponential Convergence and Robustness | p. 221 |
| Robustness of an Adaptive Control Scheme | p. 225 |
| Heuristic Analysis of the Rohrs Examples | p. 231 |
| Averaging Analysis of Slow Drift Instability | p. 236 |
| Instability Theorems Using Averaging | p. 236 |
| Application to the Output Error Scheme | p. 241 |
| Methods for Improving Robustness-Qualitative Discussion | p. 248 |
| Robust Identification Schemes | p. 248 |
| Specification of the Closed Loop Control Objective-Choice of Control Model and of Reference Input | p. 250 |
| The Usage of Prior Information | p. 250 |
| Time Variation of Parameters | p. 251 |
| Robustness via Update Law Modifications | p. 251 |
| Deadzone and Relative Deadzone | p. 251 |
| Leakage Term (-Modification) | p. 253 |
| Regressor Vector Filtering | p. 253 |
| Slow Adaptation, Averaging and Hybrid Update Laws | p. 254 |
| Conclusions | p. 254 |
| Advanced Topics in Identification and Adaptive Control | p. 257 |
| Use of Prior Information | p. 257 |
| Identification of Partially Known Systems | p. 257 |
| Effect of Unmodeled Dynamics | p. 263 |
| Global Stability of Indirect Adaptive Control Schemes | p. 266 |
| Indirect Adaptive Control Scheme | p. 267 |
| Indirect Adaptive Pole Placement | p. 272 |
| Indirect Adaptive Stabilization-The Factorization Approach | p. 274 |
| Multivariate Adaptive Control | p. 277 |
| Introduction | p. 277 |
| Preliminaries | p. 278 |
| Factorization of Transfer Function Matrices | p. 278 |
| Interactor Matrix and Hermite Form | p. 282 |
| Model Reference Adaptive Control-Controller Structure | p. 286 |
| Model Reference Adaptive Control-Input Error Scheme | p. 290 |
| Alternate Schemes | p. 292 |
| Conclusions | p. 293 |
| Adaptive Control of a Class of Nonlinear Systems | p. 294 |
| Introduction | p. 294 |
| Linearizing Control for a Class of Nonlinear Systems-A Review | p. 295 |
| Basic Theory | p. 295 |
| Minimum Phase Nonlinear Systems | p. 299 |
| The Single-Input Single-Output Case | p. 300 |
| The Multi-Input Multi-Output Case | p. 305 |
| Model Reference Control for Nonlinear Systems | p. 307 |
| Adaptive Control of Linearizable Minimum Phase Systems | p. 309 |
| Single-Input Single-Output, Relative Degree One Case | p. 309 |
| Extensions to Higher Relative Degree SISO Systems | p. 312 |
| Adaptive Control of MIMO Systems Decouplable by Static State Feedback | p. 320 |
| Conclusions | p. 322 |
| Conclusions | p. 324 |
| General Conclusions | p. 325 |
| Future Research | p. 325 |
| Appendix | p. 331 |
| References | p. 359 |
| Index | p. 373 |
| Errata | p. 379 |
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