© 2017

Non-identifier Based Adaptive Control in Mechatronics

Theory and Application


  • fer insights, in particular for newcomers to high-gain adaptive control

  • Describes internal model design with and without anti-windup

  • Addresses current, speed and position control of the considered mechatronic systems

  • Includes several measurement results of the mechatronic applications as well as a collection of problems and solutions

  • Discusses the theory and application of non-identifier based adaptive control with and without internal model(s) to electric machines, wind turbine systems, rigid-link revolute-joint robotic manipulators, and industrial-servo systems

  • Describes non-identifier adaptive controllers,which are developed in a general but detailed and self-contained manner to improve readability and of


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

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

  1. 1.Munich School of EngineeringTechnical University of MunichGarchingGermany

Bibliographic information

  • Book Title Non-identifier Based Adaptive Control in Mechatronics
  • Book Subtitle Theory and Application
  • Authors Christoph M. Hackl
  • Series Title Lecture Notes in Control and Information Sciences
  • Series Abbreviated Title Lect. Notes Control
  • DOI
  • Copyright Information Springer International Publishing AG 2017
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-3-319-55034-3
  • Softcover ISBN 978-3-319-85549-3
  • eBook ISBN 978-3-319-55036-7
  • Series ISSN 0170-8643
  • Series E-ISSN 1610-7411
  • Edition Number 1
  • Number of Pages XXI, 652
  • Number of Illustrations 25 b/w illustrations, 147 illustrations in colour
  • Topics Control and Systems Theory
    Robotics and Automation
    Systems Theory, Control
  • Buy this book on publisher's site
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