Algebraic Identification and Estimation Methods in Feedback by Hebertt Sira-Ram?rez, Carlos Garc?a Rodr?guez, John Cortés

By Hebertt Sira-Ram?rez, Carlos Garc?a Rodr?guez, John Cortés Romero, Alberto Luviano Ju?rez

Presents a model-based algebraic method of online parameter and country estimation in doubtful dynamic suggestions regulate systems

Algebraic identity and Estimation tools in suggestions regulate Systems offers the model-based algebraic method of online parameter and kingdom estimation in doubtful dynamic suggestions keep watch over structures. This technique evades the mathematical intricacies of the conventional stochastic technique, providing a right away model-based scheme with numerous, effortless to enforce, computational merits. This booklet includes many illustrative, instructional kind, constructed examples of the lately brought algebraic strategy for parameter and country estimation in a number of actual platforms of continuing, and discrete, nature. The advancements comprise a few laboratory experimental leads to a number of parts concerning mechatronics structures. The reader, with an engineering point mathematical history and during the numerous expository examples, may be in a position to grasp the use and comprehend the results of the hugely theoretical differential algebraic perspective up to speed platforms theory.

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Extra info for Algebraic Identification and Estimation Methods in Feedback Control Systems

Example text

01 s, but yet a smaller real value could have been used. Also, we have let u(t) = 1 N for all t. The actual value of the mass was set to m = 1 kg. Several distinctive features emerge from the simulations of this rather simple example: (1) The estimation of the mass parameter can be reliably achieved in a quite short amount of time that only depends on the arithmetic processor precision in being able to carry out the quotient of two very small quantities; namely, the numerator and denominator signals.

We illustrate this feature next. 2 Algebraic Identification and Estimation Methods in Feedback Control Systems An Algebraic Identifier for ???? Consider the visual flow dynamics ż = ???????? + ????H(t). 58) which is not well defined at the initial time t = 0, but which after an arbitrarily small time interval [0, ????), with ???? > 0, renders the exact value for the uncertain parameter ????. 7 depicts the response of the system to a rather simple trajectory-tracking task. The parameter identification is performed quite fast and the results of such an identification are immediately replaced in the certainty-equivalence controller.

For instance, the operational calculus-based (frequency-domain) alternative is introduced through simple-enough examples dealing with a visual servoing problem and the balancing of a plane rotor. Some extensions of the method into systems with nonlinearities are also presented in terms of easy-to-understand application examples. This is the case of systems exhibiting Coulomb frictions or requiring the computation of a nonlinear function of some parameter for control purposes (as in the linear motor example).

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