European Control Conference 1993: Volume 2

adaptive control algorithm analysis applied approach approximation assumption asymptotically asymptotically stable behaviour bond graph bounded closed-loop coefficients column computed condition consider constraints control law control problem control system controller design convergence corresponding defined denote discrete-time disturbance domain equation error estimation feedback control feedforward Figure frequency fuzzy fuzzy logic given identification IEEE IEEE Trans input iteration Lemma linear systems loop manipulator matrix method Mo pm motor multivariable neural network nonlinear systems observer obtained operating optimal control output paper parameters performance perturbation phase PID controller plant polynomial predictive control Proc quadratic reduced response Riccati equation robot robust control satisfied signal simulation singular sliding mode sliding mode control solution solve space stability step step response techniques Th pm Theorem time-varying systems tion torque tracking trajectory transfer function trol uncertainty values variable vector weighting zero