This is the supplemental diskette of the textbook "Robust Adaptive

Control" by P. A. Ioannou and J. Sun. It contains several examples

used in the textbook to assist the reader to understand the concepts
and algorithms presented in the book. The programs are developed with
MATLAB/SIMULINK, a copy of SIMULINK version 1.3 is required to run the
examples on this diskette. Please refer to the MathWorks manual for
running simulation with SIMULINK.

There are ten examples of adaptive control systems on this diskette. Each
example has a help file for instructions to run the simulation. In the
matlab command window, you can type, say example2, to pop up the
SIMULINK program of Example2 (make sure that your current directory
Contains the file example2.m). Or you can use the pull-down menu in the
SIMULINK
environment to open the program you want to simulate. Here is a brief
description of the examples:

Example1: Parallel estimation algorithm for a first order plant. Refer
to subsection 4.2.2 for detailed analysis.

Example2: Series-parallel estimation algorithm for a first order plant.
Refer to subsection 4.2.2 for detailed discussion.


Example3: Normalized gradient adaptive algorithm for a first order
plant. See subsection 4.3.2 of the textbook for discussion.

Example4: SIMULINK program for Example 4.3.1. Please refer to
the textbook for the statement of the problem and the discussion
about the algorithm.

Example5: Un-normalized MRAC scheme for a second order plant with
relative degree equal to 1. See Example 6.4.1 in the textbook.

Example6: Un-normalized MRAC scheme for a second order plant of
relative degree equal to 2. See Example 6.4.2 in the textbook for
details.

Example7: Robust model reference adaptive control scheme for a
first order plant with unmodeled dynamics. The plant and control
algorithm are discussed in Example 9.3.2.

Example8: Robust pole placement adaptive control scheme for a first
order plant with unmodeled dynamics. See Example 9.5.1 for further
details of the problem and algorithm.

Example9: Bursting phenomena in adaptive control systems when bounded
disturbance are present. See Example 9.4.1 for detailed analysis.

Exampl10: Modified MRAC scheme for improved performance. See subsection
9.4.1 for detailed analysis.

These M-files are User Contributed Routines which are being redistributed by
The MathWorks, upon request, on an "as is" basis. A User Contributed Routine
is not a product of The MathWorks, Inc. and The MathWorks assumes no
responsibility for any errors that may exist in these routines.

Ms. Jing Sun
Ford Research Laboratory
Control Systems Dept., SRL, MD-1170
P.O. Box 2053
Dearborn, MI 48121-2053
e-mail: jsun@fmsrlu.srl.ford.com

Professor Petros Ioannou
Center for Advanced Transportation Technologies
University of Southern California
3740 McClintock Ave., Suite 200B
Los Angeles, CA 90089-2562
e-mail: ioannou@bode.usc.edu