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Tables of Contents for Control of Sandwich Nonlinear Systems
Chapter/Section Title
Page #
Page Count
Preface
v
 
Acknowledgements
vii
 
Introduction
1
8
Background
2
5
Adaptive Control and Optimal Control
2
2
Control of Systems with Nonsmooth Nonlinearities
4
2
Neural Networks
6
1
Research Motivation
7
1
Monograph Outline
8
1
Problem Formulation
9
8
Sandwich System Examples
9
6
System with a Sandwiched Dead-Zone
9
4
System with Sandwiched Backlash
13
1
System with Sandwiched Hysteresis
14
1
System with Sandwiched Friction
14
1
Research Objectives
15
2
Continuous-Time Control Designs
17
12
Control Designs
17
2
Simulations and Analysis
19
1
Describing Function Analysis
20
2
Dead-Zone Compensation
22
6
Discussion
28
1
Hybrid Control Designs
29
26
Hybrid Control with x(t) measured
30
8
Controller Structure
30
7
System Analysis using Describing Functions
37
1
Performance Analysis
38
8
Inter-sampling Dynamics
39
1
Stability and Tracking Performance
40
5
Compensation for Other Sandwiched Nonlinearities
45
1
Control Scheme with u(t) Measured
46
3
An Illustrative Example
49
4
Conclusions
53
2
Adaptive Inverse Hybrid Design
55
22
Adaptive Inverse Design
55
7
Parametrization of Dead-Zone and Dead-Zone Inverse
56
2
Control Error
58
1
Inter-sampling dynamics: effect on control error
58
3
Simplified control error expression
61
1
Tracking Error and Stability Analysis
62
11
Adaptive Update Law
65
3
Stability
68
3
σ-Modification with Parameter Projection
71
2
A Case Study
73
2
Conclusions
75
2
Neural Hybrid Control
77
26
Background
77
4
Neural Network Theory
78
1
NN Approximation of Jump Nonlinearities
79
1
NN based Dead-Zone Precompensator
80
1
Neural-Hybrid Controller
81
17
Controller Structure
81
5
Control Error
86
4
Analysis for Modeling Mismatch d(t)
90
1
Closed-Loop Error Dynamics and Tuning Laws
91
3
Stability Analysis of the Tuning Laws
94
4
Simulation Study
98
2
Conclusions
100
3
Friction Compensation for A Sandwich Dynamic System
103
24
The Benchmark System and Control Problems
104
3
State Feedback MRAC for Output Tracking
107
3
Friction Compensation
110
13
Friction Model
110
1
Friction Compensator Structure
111
2
Output Matching Conditions
113
1
Adaptive Friction Compensation
114
9
Simulation Study
123
2
Conclusions
125
2
Adaptive Friction Compensation Based on Feedback Linearization
127
22
Preliminaries
128
4
Feedback Linearization
128
2
Adaptive control of Linearizable Systems
130
2
A Sandwich Nonlinear System with Friction
132
3
System Model
132
2
Problem Statement
134
1
Designs without Friction
135
5
Case 1: Feedback Linearizing Control for Known System Dynamics
135
3
Case 2: Adaptive Feedback Linearizing Control for Unknown System Dynamics
138
2
Friction Compensation Control
140
8
Cases 3 and 4: Known Friction Model
141
3
Cases 5 and 6: Unknown Friction Model
144
4
Conclusions
148
1
Control of Systems with Actuator Nonlinearities and Failures
149
36
Problem Statement
150
4
Actuator Nonlinearity and Inversion
151
2
Control Objectives
153
1
State Tracking Compensation Control
154
8
Basic Matching Conditions
154
2
Actuator Nonlinearity and Failure Compensation
156
1
Adaptive State Tracking Control Design
157
3
Simulation Results
160
2
Output Tracking Compensation Control
162
9
Plant-Model Output Matching
164
2
Adaptive Output Tracking Control Design
166
3
Simulation Results
169
2
Compensation Control for Sandwich Systems
171
13
A Nominal Controller Structure
173
3
A Hybrid Control Design
176
4
An Adaptive Control Design
180
4
Conclusions
184
1
Control of Systems with Sandwiched Backlash
185
30
Introduction
185
2
System Model and Control Problems
187
3
System Model
187
2
Control Problems
189
1
Turret and Barrel Backlash Compensation
190
4
An Optimal Control Design
190
3
An Alternative Optimal Control Design
193
1
Turret Backlash Compensation Control
194
8
Problem Statement
194
1
Feedback Control
195
5
Backlash Compensation
200
2
Barrel Backlash Compensation Control
202
1
Feedback Control for Flexibility and Damping
203
5
Generalization and Performance
208
6
Multi-Input and Multi-Output Cases
208
2
Simulation Results
210
4
Concluding Remarks
214
1
Conclusions and Future Research
215
4
Summary
215
2
Future Topics
217
2
References
219
6
Index
225