Non-identifier Based Adaptive Control in Mechatronics

Theory and Application

  • Christoph M.┬áHackl

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 466)

Table of contents

  1. Front Matter
    Pages i-xxi
  2. Introduction

    1. Front Matter
      Pages 1-1
    2. Christoph M. Hackl
      Pages 3-8
    3. Christoph M. Hackl
      Pages 19-27
    4. Christoph M. Hackl
      Pages 29-30
  3. Theory

    1. Front Matter
      Pages 31-31
    2. Christoph M. Hackl
      Pages 33-105
    3. Christoph M. Hackl
      Pages 107-147
    4. Christoph M. Hackl
      Pages 149-167
    5. Christoph M. Hackl
      Pages 169-215
    6. Christoph M. Hackl
      Pages 217-285
  4. Application

    1. Front Matter
      Pages 319-319
    2. Christoph M. Hackl
      Pages 435-468
    3. Christoph M. Hackl
      Pages 495-558
  5. Conclusion

    1. Front Matter
      Pages 559-559
    2. Christoph M. Hackl
      Pages 561-564
    3. Christoph M. Hackl
      Pages 565-565
  6. Problems and Solutions

    1. Front Matter
      Pages 567-567
    2. Christoph M. Hackl
      Pages 569-585
    3. Christoph M. Hackl
      Pages 587-591
    4. Christoph M. Hackl
      Pages 593-604
    5. Christoph M. Hackl
      Pages 605-614
    6. Christoph M. Hackl
      Pages 615-635
  7. Back Matter
    Pages 637-652

About this book


This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machines, wind turbine systems, industrial servo systems, and rigid-link, revolute-joint robots.

In mechatronics, there is often only rough knowledge of the system. Due to parameter uncertainties, nonlinearities and unknown disturbances, model-based control strategies can reach their performance or stability limits without iterative controller design and performance evaluation, or system identification and parameter estimation. The non-identifier-based adaptive control presented is an alternative that neither identifies the system nor estimates its parameters but ensures stability. The adaptive controllers are easy to implement, compensate for disturbances and are inherently robust to parameter uncertainties and nonlinearities. For controller implementation only structural system knowledge (like relative degree, input-to-state stable zero dynamics and known sign of the high-frequency gain) is required. Moreover, the presented controllers guarantee reference tracking with prescribed asymptotic or transient accuracy, i.e. the tracking error eventually tends to or for all time evolves within an a priori specified region.

The book presents the theory, modeling and application in a general but detailed and self-contained manner, making it easy to read and understand, particularly for newcomers to the topics covered


Adaptive Control Adaptive Lambda-tracking Control Funnel Control High-gain Adaptive Control Modeling of Industrial Servo-systems

Authors and affiliations

  • Christoph M.┬áHackl
    • 1
  1. 1.Munich School of EngineeringTechnical University of MunichGarchingGermany

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing AG 2017
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-55034-3
  • Online ISBN 978-3-319-55036-7
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
  • Buy this book on publisher's site
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