In this final report we summarize the activities of the MYF/LIDS research group for the time period 1 September 1982 to 31 December 1987. The research, funded by ONR contract N00014-82-K-0582, deals with fundamental issues in robust adaptive control systems, and the potential application of advanced control system design methodologies to the multivariable control of submarines. The research conducted was highly successful, and had significant (and controversial) impact upon the theory of adaptive control. The research of Rohrs, Valavani, Athans and Stein pointed out potential instabilities of then existing adaptive control algorithms caused by the presence of unmeasurable output disturbances and high frequency unmodeled dynamics. The publications of Rohrs et al were instrumental for defining new research directions in the adaptive control field, and the topic of Robust Adaptive Control became a new area for worldwide research. The research of Krause et al provided the first direction for the use of what is now called Averaging Theory for the analysis of adaptive control algorithms in the presence of disturbances and unmodeled dynamics. The research of Orlicki et al provided the first set of adaptive algorithms that actively employ real-time signal processing to compute frequency domain parameters which can be used to safeguard the stability of Model Reference Adaptive schemes that employ Intermittent Adaptation. The research of LaMaire et al deals with novel formulation of Hybrid Robust Identification algorithms which identify in real-time both time-domain models of the unknown plant and modeling error bounds in the frequency domain. The research of Milich et al develops theory and methodologies for designing robust compensators, with guaranteed performance in the presence of large structured and unstructured plant uncertainties. This complements the research conducted which helped streamline the LQG/LTR design methodology for non-adaptive feedback systems.

Presented in a tutorial style, this comprehensive treatment unifies, simplifies, and explains most of the techniques for designing and analyzing adaptive control systems. Numerous examples clarify procedures and methods. 1995 edition.

Since its origins in the 1940s, the subject of decision making under uncertainty has grown into a diversified area with application in several branches of engineering and in those areas of the social sciences concerned with policy analysis and prescription. These approaches required a computing capacity too expensive for the time, until the ability to collect and process huge quantities of data engendered an explosion of work in the area. This book provides succinct and rigorous treatment of the foundations of stochastic control; a unified approach to filtering, estimation, prediction, and stochastic and adaptive control; and the conceptual framework necessary to understand current trends in stochastic control, data mining, machine learning, and robotics.?

Suitable for advanced undergraduates and graduate students, this overview introduces theoretical and practical aspects of adaptive control, with emphasis on deterministic and stochastic viewpoints. 1995 edition.

The workshop brought together international experts in the field of robust adaptive control to present recent developments in the area. These indicated that the theory of adaptive control is moving closer to applications and is beginning to give realistic guidelines useful in practical situations. The proceedings also focused on the value of such practical features as filtering, normalization, deadzones and unification of robust control and adaptation.