Lectures on adaptive parameter estimation:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Englewood Cliffs, New Jersey
Prentice Hall
1988
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| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Literaturverz. S. 173 - 182 |
| Physical Description: | XVII, 185 S. graph. Darst. |
| ISBN: | 0135281261 |
Staff View
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| 100 | 1 | |a Johnson, C. R. |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Lectures on adaptive parameter estimation |c C. Richard Johnson, Jr. |
| 264 | 1 | |a Englewood Cliffs, New Jersey |b Prentice Hall |c 1988 | |
| 300 | |a XVII, 185 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 500 | |a Literaturverz. S. 173 - 182 | ||
| 650 | 7 | |a Inferencia Parametrica |2 larpcal | |
| 650 | 4 | |a Differentiable dynamical systems | |
| 650 | 4 | |a Parameter estimation | |
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Record in the Search Index
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| adam_text | Contents
PREFACE xv
1 INTEGER GUESSING GAMES 1
MAIN TOPIC: Plausibility of a Sign-Sign Algorithm 2
REMARK 1 -1: Channel Equalization Application 3
REMARK 1-2: Bounded Inputs Can Lead to Parameter Estimate
Divergence 4
REMARK 1-3: Convergence Speed and Steady-State Coarseness
Compromise with Stepsize Selection 4
REMARK 1-4: Generic Recursive Algorithm Form 4
2 GRADIENT SEARCH MINIMIZATION AND LMS 7
MAIN TOPIC: Gradient Descent Derivation of LMS 8
REMARK 2-1: Prediction Error Convergence without Parameter
Identification 11
REMARK 2-2: Adaptive Separation of Sinusoid and Additive
Noise 11
REMARK 2-3: Signed-Error LMS 12
REMARK 2-4: Input Influence on Error Surface Shape and Parameter
Estimate T rajectory Geometry 12
vll
Contents
3 THE EQUATION ERROR FORMULATION AND 15
NORMALIZED LMS
MAIN TOPIC: Lyapunov Stability Proof for NLMS 16
REMARK 3-1: LMS Stepsize Bounds 19
REMARK 3-2: Relative Convergence Rates of LMS and NLMS 20
REMARK 3-3: Summed Squared Parameter Error Is Not a Universal
Lyapunov Function 20
REMARK 3-4: Monotonie Versus Average Performance Function
Decay 21
4 RECURSIVE LEAST SQUARES 23
MAIN TOPIC: Derivation of Recursive Weighted Least-Squares
(RWLS) Algorithm 24
REMARK 4-1: Stepsize Matrix Initialization 29
REMARK 4-2: LMS Versus RLS 29
REMARK 4-3: Data Forgetting Factor Selection 30
REMARK 4-4: Bias Due to Output Measurement Noise 31
5 PERSISTENT EXCITATION AND PARAMETER 33
CONVERGENCE
MAIN TOPIC: Exponential Convergence of RWLS Given
Persistent Excitation 34
REMARK 5-1: RWLS “Explosion” without Persistent Excitation 37
REMARK 5-2: Loss of Adaptability by RLS with Persistent
Excitation 37
REMARK 5-3: LMS Exponential Convergence Rate 37
REMARK 5-4: Persistent Excitation Definition Is Algorithm
Dependent 38
6 A FREQUENCY RESPONSE FIT PARADIGM 41
MAIN TOPIC: Insights into Persistent Excitation Condition
from Bode Plot Fitting View 42
REMARK 6-1: Sufficient Number of Sinusoids Interpretation 45
REMARK 6-2: Model Minimality Requirement 45
REMARK 6-3: Input Selection for Maximization of Minimum
Eigenvalue 46
Contents
ix
REMARK 6-4: Best Accuracy Where SNR Highest 47
7 GRADIENT SEARCH MINIMIZATION OF THE 49
OUTPUT ERROR
MAIN TOPIC: Emergence of Time-Varying Regressor Filtering 50
REMARK 7-1: A Less Expensive Gradient Formula 53
REMARK 7-2: The Need for Projection 54
REMARK 7-3: An Adaptive Lattice Version 56
REMARK 7-4: Multimodality in Reduced-Order Application 57
8 HOMOGENOUS ERROR SYSTEMS 59
MAIN TOPIC: Stability of Error System Composed
of Feedback Interconnection of SPR
Block and Passive Algorithm 60
REMARK 8-1: Local Parameter Estimate Trajectory Geometry
with Error Smoothing 67
REMARK 8-2: Persistent Excitation and Exponential
Convergence 67
REMARK 8-3: Error Smoothing Versus Input Sufficient Power and/or
Bandwidth Constraint 68
REMARK 8-4: Output Measurement Noise Bias Reduction 68
9 ARMAX MODELLING 71
MAIN TOPIC: General Structure of Estimator Model
and Applicable Adaptive Algorithms with
Measurable and Unmeasurable Inputs to Plant 72
REMARK 9-1: (Nearly) Unbiased Plant and Noise Model
Estimation 76
REMARK 9-2: Fixed Regressor Filtering Algorithm 76
REMARK 9-3: Adapted Error Smoothing Algorithm 76
REMARK 9-4: Adaptive Differential Pulse Code Modulation as an
Example of a “Plant with No Measured Input 78
X
Contents
10 MISMODELLING, PERSISTENT EXCITATION, 81
AND ROBUSTNESS
MAIN TOPIC: Mismodelling as a Perturbation to the Forced
Error System with Stability Retained if the
Homogenous Error System Is Exponentially
Asymptotically Stable 82
REMARK 10-1: Stepsize Effect on Output and Parameter Estimation
Accuracy 84
REMARK 10-2: False Persistent Excitation Inducement
by Noise 85
REMARK 10-3: Unbounded Parameter Estimate Drift in LMS
with Decaying Excitation and Unmeasurable
Disturbances 86
REMARK 10-4: Different Local Stable Points with Different
Algorithms 87
11 AVERAGING ANALYSIS 89
MAIN TOPIC: Average Positivity Condition for Local Stability
and Its Dominant Persistent
Excitation Interpretation 89
REMARK 11-1: Stability Condition for Signed Regressor LMS 96
REMARK 11-2: The Possible Incompleteness of the Positivity Test
as Lone Verification of Anticipated Performance 96
REMARK 11-3: Local Instability Does Not Necessarily Imply
Divergence 97
REMARK 11-4: Constant Modulus Algorithm as an Example of a
Locally Stable Algorithm Not Requiring a Desireo
Signal for Prediction Error Formation 98
12 SIMULTANEOUS IDENTIFICATION 101
AND CONTROL
MAIN TOPIC: Indirect Adaptive Model-Following 102
REMARK 12-1: Zero-Crossing Problem with Divison by Leading
Numerator Coefficient 105
REMARK 12-2: Indirect Adaptive Pole Placement 105
REMARK 12-3: Recursive Least Squares Identification (over a
Time Window of Fixed Controller Settings)
with Covariance Reset 108
REMARK 12-4: Self-Tuning Regulator Performance
Convergence to Minimum Variance Regulator 108
Contents
xi
13 MODEL REFERENCE ADAPTIVE CONTROL 111
MAIN TOPIC: Direct Adaptive Model Following 112
REMARK 13-1: Alternative Controller Parameterization 115
REMARK 13-2: Output Error Identificaton Interpretation 116
REMARK 13-3: Transient Behavior 116
REMARK 13-4: Direct Adaptive Pole Placement 117
14 LINEAR BOUNDEDNESS LEMMA 119
AND ADAPTIVE CONTROLLER STABILITY
MAIN TOPIC: Adaptive Controller Convergence Proof without
a priori Assumption of Control Input and Plant
Output Boundedness 120
REMARK 14-1: Adaptive Model-Following without Computation
Delay 122
REMARK 14-2: Stable Adaptive Control of Some Nonminimum Phase
Plants 122
REMARK 14-3: Stability of RLS Identification With Periodic Reset and
Periodic Pole-Shifting Redesign 122
REMARK 14-4: Stability of RLS Identification with Periodic Reset and
Periodic Pole-Shifting Redesign 123
15 NONIDEAL MISBEHAVIOR EXAMPLES 125
IN ADAPTIVE CONTROL
MAIN TOPIC: Examples of Drift without Persistent Excitation
and Loss of Local Stability without Dominant
Persistent Excitation 126
REMARK 15-1: Drift Direction on DC Line Dependent on Sinusoidal
Disturbance Frequency 132
REMARK 15-2: Local Stability Point on DC Line for Some
Spectrally Rich Disturbances 132
REMARK 15-3: Sinusoidal Reference of Inappropriate Frequency
Can Lead to Stationary Point Outside Stabilizing
Region 133
REMARK 15-4: Sinusoid of Appropriate Frequency Reference Input
Can Stabilize System Despite Sinusoidal
Disturbance 133
xil
Contents
16 TUNED ERROR SYSTEM FORMULATION 135
MAIN TOPIC: Forced Error System Explication for Nonideal
Adaptive Control 136
REMARK 16-1: Average Update Direction from a Frozen
Parameterization 140
REMARK 16-2: Locating a Local Stability Point as the Attraction
Point for Surrounding Average Update Vectors 140
REMARK 16-3: Locating a Stationary Point That Destabilizes the
Closed-Loop System 140
REMARK 16-4: Satisfying the Positivity Condition with Reference
Signal “Dither 141
17 GUIDELINES FOR ADAPTIVE CONTROL 143
ENGINEERING
MAIN TOPIC: Development of Frequency Spectrum of Plant
Effects and Designer Choices for Successful
(Small Stepsize) Adaptive Control 144
REMARK 17-1: Compromise in Reference Signal Cutoff
Frequency 147
REMARK 17-2: Compromise in Desired Bandwidth 148
REMARK 17-3: Safety Jackets 148
REMARK 17-4: Dual Control Concept 149
18 REGRESSOR SIGNAL PREFILTERING 151
MAIN TOPIC: Addition of Regressor Signal Preconditioning
to Adaptive Model Following 152
REMARK 18-1: Stabilization with Dominant Persistant Excitation
Conditioning Reshaping 155
REMARK 18-2: Change in Local Convergence Point 156
REMARK 18-3: Lowering Power of Added Excitation Needed to Achieve
Satisfactory Persistent Excitation 157
REMARK 18-4: General Form of Filter Addition to Adaptive
Algorithms 157
Contents
xiil
19 LEAKAGE 159
MAIN TOPIC: Stabilizing Influence of Leakage Addition to Basic
Parameter Estimator Integrator 160
REMARK 19-1: Bursting Retardation with Leakage 161
REMARK 19-2: Parameter Estimate Offset with Persistent Excitation
and Leakage 162
REMARK 19-3: Error-Weighted Leakage 162
REMARK 19-4: Direction-Selective Leakage 163
20 DEADZONES 165
MAIN TOPIC: Parameter Drift Containment Motivation for Error
Deadzone Inclusion 166
REMARK 20-1: Tracking Performance Versus Bursting Avoidance in
Deadzone Size Selection in Adaptive Model-
Following 166
REMARKS 20-2,3,4: “Global Stability of Adaptive
Control with Algorithm Frills and Some Tuned Control
System Foreknowledge (Parts I, II, III) 167
POSTSCRIPT 169
REFERENCES 173
INDEX
|
| any_adam_object | 1 |
| author | Johnson, C. R. |
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| ctrlnum | (OCoLC)16005548 (DE-599)BVBBV002066999 |
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| dewey-tens | 000 - Computer science, information, general works |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik |
| format | Book |
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| indexdate | 2024-07-09T15:39:46Z |
| institution | BVB |
| isbn | 0135281261 |
| language | English |
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| physical | XVII, 185 S. graph. Darst. |
| publishDate | 1988 |
| publishDateSearch | 1988 |
| publishDateSort | 1988 |
| publisher | Prentice Hall |
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| spelling | Johnson, C. R. Verfasser aut Lectures on adaptive parameter estimation C. Richard Johnson, Jr. Englewood Cliffs, New Jersey Prentice Hall 1988 XVII, 185 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Literaturverz. S. 173 - 182 Inferencia Parametrica larpcal Differentiable dynamical systems Parameter estimation Parameterschätzung (DE-588)4044614-1 gnd rswk-swf Parameterschätzung (DE-588)4044614-1 s DE-604 HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=001351818&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Johnson, C. R. Lectures on adaptive parameter estimation Inferencia Parametrica larpcal Differentiable dynamical systems Parameter estimation Parameterschätzung (DE-588)4044614-1 gnd |
| subject_GND | (DE-588)4044614-1 |
| title | Lectures on adaptive parameter estimation |
| title_auth | Lectures on adaptive parameter estimation |
| title_exact_search | Lectures on adaptive parameter estimation |
| title_full | Lectures on adaptive parameter estimation C. Richard Johnson, Jr. |
| title_fullStr | Lectures on adaptive parameter estimation C. Richard Johnson, Jr. |
| title_full_unstemmed | Lectures on adaptive parameter estimation C. Richard Johnson, Jr. |
| title_short | Lectures on adaptive parameter estimation |
| title_sort | lectures on adaptive parameter estimation |
| topic | Inferencia Parametrica larpcal Differentiable dynamical systems Parameter estimation Parameterschätzung (DE-588)4044614-1 gnd |
| topic_facet | Inferencia Parametrica Differentiable dynamical systems Parameter estimation Parameterschätzung |
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