Thesiss

The objectives of this research work are to develop direct and indirect adaptive control strategies for discrete-time nonlinear systems and to investigate the applicability of the proposed schemes to adaptive tracking control of a flexible-link manipulator. The first problem con…

Feedback is used to control systems whose open-loop behaviour is uncertain. Over the last twenty years a mature theory of robust control has been developed for linear multivariable systems in continuous time. But most practical control systems have constraints such as saturation…