Preface ...................................................... xiii
Authors ...................................................... xvii
Symbols ....................................................... xix
Acronyms .................................................... xxiii
1 Introduction ............................................... 1
1.1 Model-Based Control ........................................ 1
1.1.1 Modeling and Identification ......................... 1
1.1.2 Model-Based Controller Design ....................... 3
1.2 Data-Driven Control ........................................ 5
1.2.1 Definition and Motivation of Data-Driven Control .... 6
1.2.2 Object of Data-Driven Control Methods ............... 7
1.2.3 Necessity of Data-Driven Control Theory and
Methods ............................................. 8
1.2.4 Brief Survey on Data-Driven Control Methods ........ 10
1.2.4.1 DDC Classification According to Data
Usage ..................................... 10
1.2.4.2 DDC Classification According to
Controller Structure Design ............... 14
1.2.5 Summary of Data-Driven Control Methods ............. 15
1.3 Preview of the Book ....................................... 17
2 Recursive Parameter Estimation for Discrete-Time
Systems ................................................... 19
2.1 Introduction .............................................. 19
2.2 Parameter Estimation Algorithm for Linearly
Parameterized Systems ..................................... 20
2.2.1 Projection Algorith m .............................. 21
2.2.2 Least-Squares Algorithm ............................ 22
2.2.2.1 Least-Squares Algorithm for Time-
Invariant Parameter Estimation ............ 22
2.2.2.2 Modified Least-Squares Algorithm for
Time-Varying Parameter Estimation ......... 24
2.3 Parameter Estimation Algorithm for Nonlinearly
Parameterized Systems ..................................... 27
2.3.1 Projection Algorithm and Its Modified Form for
Nonlinearly Parameterized Systems .................. 27
2.3.1.1 Existing Projection Algorithm ............. 27
2.3.1.2 Modified Projection Algorithm ............. 28
2.3.2 Least-Squares Algorithm and Its Modified Form
for Nonlinearly Parameterized Systems .............. 32
2.3.2.1 Existing Least-Squares Algorithm .......... 32
2.3.2.2 Modified Least-Squares Algorithm .......... 34
2.4 Conclusions ............................................... 44
3 Dynamic Linearization Approach of Discrete-Time
Nonlinear Systems ......................................... 45
3.1 Introduction .............................................. 45
3.2 SISO Discrete-Time Nonlinear Systems ...................... 47
3.2.1 Compact Form Dynamic Linearization ................. 47
3.2.2 Partial Form Dynamic Linearization ................. 53
3.2.3 Full Form Dynamic Linearization .................... 59
3.3 MIMO Discrete-Time Nonlinear Systems ...................... 64
3.3.1 Compact Form Dynamic Linearization ................. 64
3.3.2 Partial Form Dynamic Linearization ................. 66
3.3.3 Full Form Dynamic Linearization .................... 69
3.4 Conclusions ............................................... 71
4 Model-Free Adaptive Control of SISO Discrete-Time
Nonlinear Systems ......................................... 75
4.1 Introduction .............................................. 75
4.2 CFDL Data Model Based MFAC ................................ 77
4.2.1 Control System Design .............................. 77
4.2.1.1 Controller Algorithm ...................... 77
4.2.1.2 PPD Estimation Algorithm .................. 78
4.2.1.3 System Control Scheme ..................... 79
4.2.2 Stability Analysis ................................. 80
4.2.3 Simulation Results ................................. 87
4.3 PFDL Data Model Based MFAC ................................ 93
4.3.1 Control System Design .............................. 93
4.3.1.1 Controller Algorithm ...................... 94
4.3.1.2 PG Estimation Algorithm ................... 94
4.3.1.3 System Control Scheme ..................... 95
4.3.1.4 Stability Analysis ........................ 96
4.3.3 Simulation Results ................................ 104
4.4 FFDL Data Model Based MFAC ............................... 108
4.4.1 Control System Design ............................. 108
4.4.1.1 Controller Algorithm ..................... 110
4.4.1.2 PG Estimation Algorithm .................. 111
4.4.1.3 System Control Scheme .................... 111
4.4.2 Simulation Results ................................ 113
4.5 Conclusions .............................................. 118
5 Model-Free Adaptive Control of MIMO Discrete-Time
Nonlinear Systems ........................................ 119
5.1 Introduction ............................................. 119
5.2 CFDL Data Model Based MFAC ............................... 120
5.2.1 Control System Design ............................. 120
5.2.1.1 Controller Algorithm ..................... 121
5.2.1.2 PJM Estimation Algorithm ................. 122
5.2.1.3 System Control Scheme .................... 123
5.2.2 Stability Analysis ................................ 124
5.2.3 Simulation Results ................................ 132
5.3 PFDL Data Model Based MFAC ............................... 134
5.3.1 Control System Design ............................. 134
5.3.1.1 Controller Algorithm ..................... 136
5.3.1.2 PPJM Estimation Algorithm ................ 137
5.3.1.3 System Control Scheme .................... 138
5.3.2 Stability Analysis ................................ 139
5.3.3 Simulation Results ................................ 145
5.4 FFDL Data Model Based MFAC ............................... 149
5.4.1 Control System Design ............................. 149
5.4.1.1 Controller Algorithm ..................... 150
5.4.1.2 PPJM Estimation Algorithm ................ 151
5.4.1.3 System Control Scheme .................... 152
5.4.2 Simulation Results ................................ 153
5.5 Conclusions .............................................. 156
6 Model-Free Adaptive Predictive Control ................... 157
6.1 Introduction ............................................. 157
6.2 CFDL Data Model Based MFAPC .............................. 158
6.2.1 Control System Design ............................. 158
6.2.1.1 Controller Algorithm ..................... 160
6.2.1.2 PPD Estimation Algorithm and Prediction
Algorithm ................................ 161
6.2.1.3 Control Scheme ........................... 162
6.2.1.1 Stability Analysis ....................... 164
6.2.3 Simulation Results ................................ 167
6.3 PFDL Data Model Based MFAPC .............................. 171
6.3.1 Control System Design ............................. 171
6.3.1.1 Controller Algorithm ..................... 174
6.3.1.2 PG Estimation Algorithm and Prediction
Algorithm ................................ 174
6.3.1.3 Control Scheme ........................... 176
6.3.2 Simulation Results ................................ 177
6.4 FFDL Data Model Based MFAPC .............................. 182
6.4.1 Control System Design ............................. 182
6.4.1.1 Controller Algorithm ..................... 184
6.4.1.2 PG Estimation Algorithm .................. 185
6.4.1.3 Control Scheme ........................... 186
6.4.2 Simulation Results ................................ 188
6.5 Conclusions .............................................. 190
7 Model-Free Adaptive Iterative Learning Control ........... 193
7.1 Introduction ............................................. 193
7.2 CFDL Data Model Based MFAILC ............................. 195
7.2.1 CFDL Data Model in the Iteration Domain ........... 195
7.2.2 Control System Design ............................. 198
7.2.2.1 Controller Algorithm ..................... 198
7.2.2.2 PPD Iterative Updating Algorithm ......... 199
7.2.2.3 CFDL-MFAILC Scheme ....................... 199
7.2.3 Convergence Analysis .............................. 200
7.2.4 Simulation Results ................................ 204
7.3 Conclusions .............................................. 205
8 Model-Free Adaptive Control for Complex Connected
Systems and Modularized Controller Design ................ 207
8.1 Introduction ............................................. 207
8.2 MFAC for Complex Connected Systems ....................... 208
8.2.1 Series Connection ................................. 209
8.2.2 Parallel Connection ............................... 212
8.2.3 Feedback Connection ............................... 214
8.2.4 Complex Interconnection ........................... 217
8.2.5 Simulation Results ................................ 219
8.2.5.1 Series, Parallel, and Feedback
Connection ............................... 219
8.2.5.2 Complex Interconnection .................. 220
8.3 Modularized Controller Design ............................ 223
8.3.1 Estimation-Type Control System Design ............. 223
8.3.2 Embedded-Type Control System Design ............... 229
8.3.1 Embedded-Type Control System Design for
Nonrepetitive Systems ............................. 229
8.3.2.2 Modularized Controller Design Scheme
for Repetitive Systems ................... 232
8.3.3 Simulations ....................................... 235
8.4 Conclusions .............................................. 238
9 Robustness of Model-Free Adaptive Control ................ 241
9.1 Introduction ............................................. 241
9.2 MFAC in the Presence of Output Measurement Noise ......... 242
9.2.1 Robust Stability Analysis ......................... 242
9.2.2 Simulations ....................................... 247
9.3 MFAC in the Presence of Data Dropouts .................... 247
9.3.1 Robust Stability Analysis ......................... 249
9.3.2 MFAC Scheme with Data-Dropped Compensation ........ 252
9.3.3 Simulations ....................................... 258
9.4 Conclusions .............................................. 259
10 Symmetric Similarity for Control System Design ........... 261
10.1 Introduction ............................................. 261
10.2 Symmetric Similarity for Adaptive Control Design ......... 263
10.2.1 Concepts and Design Principle of Symmetric
Similarity ........................................ 264
10.2.2 Adaptive Control with Symmetric Similarity
Structure ......................................... 266
10.2.2.1 Adaptive Control with Symmetric
Similarity Structure for Linear
Systems .................................. 266
10.2.2.2 Adaptive Control with Symmetric
Similarity Structure for Nonlinear
Systems .................................. 270
10.2.3 MFAC with Symmetric Similarity Structure .......... 272
10.2.4 Simulations ....................................... 273
10.2.4.1 Adaptive Control with Symmetric
Similarity Structure ..................... 276
10.2.4.2 MFAC with Symmetric Similarity
Structure ................................ 278
10.3 Similarity between MFAC and MFAILC ....................... 280
10.4 Similarity between Adaptive Control and Iterative
Learning Control ......................................... 283
10.4.1 Adaptive Control for Discrete-Time Nonlinear
Systems ........................................... 287
10.4.1.1 Problem Formulation ...................... 287
10.4.1.2 Adaptive Control Design .................. 287
10.4.1.3 Stability and Convergence Analysis ....... 288
10.4.2 Adaptive ILC for Discrete-Time Nonlinear
Systems ........................................... 293
10.4.2.1 Problem Formulation ...................... 293
10.4.2.2 Adaptive Iterative Learning Control
Design ................................... 293
10.4.2.3 Stability and Convergence Analysis ....... 294
10.4.3 Comparison between Adaptive Control and Adaptive
ILC ............................................... 301
10.5 Conclusions .............................................. 304
11 Applications ............................................. 305
11.1 Introduction ............................................. 305
11.2 Three-Tank Water System .................................. 306
11.2.1 Experimental Setup ................................ 306
11.2.2 Three Data-Driven Control Schemes ................. 308
11.2.2.1 MFAC Scheme .............................. 308
11.2.2.2 VRFT Method .............................. 308
11.2.2.3 IFT Method ............................... 309
11.2.3 Experimental Investigation ........................ 309
11.2.3.1 Experiment I ............................. 309
11.2.3.2 Experiment II ............................ 314
11.3 Permanent Magnet Linear Motor ............................ 314
11.3.1 Permanent Magnet Linear Motor System .............. 316
11.3.1.1 Experimental Setup ....................... 316
11.3.1.2 MFAC Scheme .............................. 317
11.3.1.3 Experiments .............................. 319
11.3.2 Dual-Axis Linear Motor Gantry System .............. 325
11.3.2.1 Experimental Setup ....................... 325
11.3.2.2 MFAC Scheme for the Dual-Axis Linear
Motor Gantry System ...................... 326
11.3.2.3 Experiments .............................. 326
11.4 Freeway Traffic System ................................... 329
11.4.1 Macroscopic Traffic Model ......................... 331
11.4.2 Control Scheme .................................... 333
11.4.3 Simulations ....................................... 334
11.5 Welding Process .......................................... 339
11.5.1 Experimental Setup ................................ 339
11.5.2 Control Scheme .................................... 340
11.5.3 Simulations ....................................... 341
11.5.4 Experimental Investigation ........................ 341
11.6 MW Grade Wind Turbine .................................... 343
11.6.1 Wind Turbine Blade Static Loading Control
System ............................................ 345
11.6.2 Control Scheme .................................... 346
11.6.3 Static Loading Experiment ......................... 347
11.7 Conclusions .............................................. 348
12 Conclusions and Perspectives ............................. 351
12.1 Conclusions .............................................. 351
12.2 Perspectives ............................................. 353
References ............................................... 355
Index ......................................................... 371
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