This book is a textbook on adaptive control systems for senior undergraduate or first year postgraduate students. After defining what is meant by an adaptive control system, the authors introduce the concept of direct and indirect control using the parameter perturbation and sensitivity methods. Other approaches include model reference adaptive systems and self-tuning regulators.
The principal aim is to present a general approach based on Lyapunov’s direct method for the control of deterministic continuous time linear systems with unknown parameters. In an adaptive control systems the controller parameters need to be adjusted so that the overall system has bounded solutions. These techniques require theory for the analysis of nonlinear system stability. Linear system theory, Lyapunov stability, positive real functions, the Kalman-Yakubovich Lemma and input-output stability are discussed, before studying the stability of adaptive systems, and direct and indirect control. More advanced topics are developed in detail in the following sequence: theory of adaptive observers and observer synthesis techniques; adaptive control of plants with relative degree unity and higher degrees; persistent excitation; error models; robust adaptive control systems of various types and structures; multivariable systems. In the final chapter applications to ship dynamics, process control, power system, robot manipulators, blood pressure control, ventricular assist devices and muscular control, are described.