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Adaptive control provides techniques for the automatic adjustment of control parameters in real time either to achieve or to maintain a desired level of control system performance when the dynamic parameters of the process to be controlled are unknown and/or time-varying. The main characteristic of these techniques is the ability to extract significant information from real data in order to tune the controller and they feature a mechanism for adjusting the parameters of either the plant model or the controller. The history of adaptive control is long, significant progress in understanding and applying its ideas having begun in the early nineteen-seventies. The growing availability of digital computers has also contributed to the progression of the field. The early applications provided important feedback for the development of the field and theoretical innovations allowed a number of basic problems to be solved. The aim of this book is to provide a coherent and comprehensive treatment of the field of adaptive control. The presentation takes the reader from basic problem formulation to analytical solutions the practical significance of which is illustrated by applications. A unified presentation of adaptive control is not obvious. One reason for this is that several design steps are involved and this increases the number of degrees of freedom. Another is that methods have been proposed having different applications in mind but without a clear motivation for the intermediate design steps. It is our belief, however, that a coherent presentation of the basic techniques of adaptive control is now possible. We have adopted a discrete-time formulation for the problems and solutions described to reflect the importance of digital computers in the application of adaptive control techniques and we share our understanding and practical experience of the soundness of various control designs with the reader. Throughout the book, the mathematical aspects of the synthesis and analysis of various algorithms are emphasized; however, this does not mean that they are sufficient in themselves for solving practical problems or that ad hoc modifications of the algorithms for specific applications are not possible. To guide readers, the book contains various applications of control techniques but it is our belief that without a solid mathematical understanding of the adaptation techniques available, they will not be able to apply them creatively to new and difficult situations. The book has grown out of several survey papers, tutorial and courses delivered to various audiences (graduate students, practicing engineers, etc.

International audienceAdaptive feedforward broadband vibration (or noise) compensation is currently used when a correlated measurement with the disturbance (an image of the disturbance) is available. However in most of the systems there is a "positive" mechanical feedback coupling between the compensator system and the measurement of the image of the disturbance. This may lead to the instability of the system. The paper proposes new algorithms taking into account this coupling effect and provides the corresponding analysis. The algorithms have been applied to an active vibration control (AVC) system and real time results are presented. A theoretical and experimental comparison with some existing algorithms is also provided

The adaptive regulation is an important issue with a lot of potential for applications in active suspension, active vibration control, disc drives control and active noise control. One of the basic problems from the "control system" point of view is the rejection of multiple unknown and time varying narrow band disturbances without using an additional transducer for getting information upon the disturbances. An adaptive feedback approach has to be considered for this problem. Industry needs a state of the art in the field based on a solid experimental verification. The paper presents a benchmark problem for suppression of multiple unknown and/or timevarying vibrations and an associated active vibration control system using an inertial actuator on which the experimental verifications have been done. The benchmark has three levels of difficulty and the associated control performance specifications are presented 1. An extensive comparison of the results obtained by various approaches will be presented 2. * Control system department of GIPSA-LAB, St. Martin d'héres, 38402 FRANCE (e-mail: [ioan-dore.landau, tudor-bogdan.airimitoaie, abraham.castellanos-silva, Gabriel.Buche]@gipsa-lab.grenoble-inp.fr). † Paulstra S.A.; Vibrachoc Division 1 The GIPSA-LAB team has done the experiments for all the contributors. 2 Results for some of the approaches are included in the proceedings of ECC 13[3], [8], [9], [7], [1], [18].

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International audienceAn active vibration control system using an inertial actuator for suppression of multiple unknown and/or time-varying vibrations will be presented. The objective is to minimize the residual force by applying an appropriate control effort through the inertial actuator. The system does not use any additional transducer for getting in real-time information upon the disturbances. A direct feedback adaptive regulation scheme for the suppression of multiple unknown and/or time-varying vibrations will be used and evaluated in real time. It uses the internal model principle and the Youla-Kucera parametrization. In the Appendix, a comparison with an alternative indirect adaptive regulation scheme is presented

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