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Graduated Persistent Excitation and steady state margins for adaptive systems

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dc.contributor.advisor Anuradha M. Annaswamy. en_US Jain, Himani, S.M. Massachusetts Institute of Technology en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2008-01-10T15:50:20Z 2008-01-10T15:50:20Z 2007 en_US 2007 en_US
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. en_US
dc.description Includes bibliographical references (p. 107-112). en_US
dc.description.abstract The numerous design tools developed for use with linear controllers, specifically gain and phase margins, do not apply to nonlinear control architectures such as model reference adaptive control. The first step for the development of Verification and Validation (V&V) techniques for this class of nonlinear control systems is presented in this thesis in the context of controlling uncertain flight vehicle dynamics. Using a Reduced Linear Asymptotic System (RLAS), which characterizes the asymptotic behavior of an adaptive system, methods for tuning the free adaptive system parameters such as Lyapunov matrix P to satisfy the desired performance criteria are presented. Making use of the fact that the RLAS is a linear time invariant system, optimization procedures based on output feedback and Linear Matrix Inequalities are proposed. The concept of Persistent excitation in the context of improving stability and robustness properties of closed loop adaptive systems is discussed. Graduated Persistent Excitation (GPE) is introduced as an easy to implement alternative to Persistent excitation. en_US
dc.description.abstract (cont.) Tools such as MIMO margins based on the singular values of sensitivity matrix are applied on RLAS to systematically derive stability margins of an adaptive flight control system. Additionally, a proof of signal boundedness is presented in the presence of both structured and unstructured uncertainties. The tools are demonstrated on simulations of a nonlinear 6 DoF aircraft model. en_US
dc.description.statementofresponsibility by Himani Jain. en_US
dc.format.extent 112 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.subject Mechanical Engineering. en_US
dc.title Graduated Persistent Excitation and steady state margins for adaptive systems en_US
dc.title.alternative GPE and steady state margins for adaptive systems en_US
dc.type Thesis en_US S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 181656109 en_US

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