Preface	7
	Contents	9
	1 Introduction	13
	1.1 Background	13
	1.2 Contributions	17
	1.3 Organization	19
	2 Discrete-Time Sliding Mode Control	21
	2.1 Introduction	21
	2.2 Problem Formulation	23
	2.3 Classical Discrete-Time Sliding Mode Control Revisited	27
	2.3.1 State Regulation	27
	2.3.2 Output Tracking	30
	2.4 Discrete-Time Integral Sliding Mode Control	33
	2.4.1 State Regulation with ISM	33
	2.4.2 Output-Tracking ISM Control: State Feedback Approach	36
	2.4.3 Output Tracking ISM: Output Feedback Approach	42
	2.4.4 Output Tracking ISM: State Observer Approach	50
	2.4.5 Systems with a Piece-Wise Smooth Disturbance	54
	2.4.6 Illustrative Example	55
	2.5 Discrete-Time Terminal Sliding Mode Control	63
	2.5.1 Controller Design and Stability Analysis	63
	2.5.2 TSM Control Tracking Properties	67
	2.5.3 Determination of Controller Parameters	68
	2.6 Conclusion	73
	3 Discrete-Time Periodic Adaptive Control	74
	3.1 Introduction	74
	3.2 Discrete-Time Periodic Adaptive Control	75
	3.2.1 Discrete-Time Adaptive Control Revisited	75
	3.2.2 Periodic Adaptation	77
	3.2.3 Convergence Analysis	77
	3.3 Extension to More General Cases	79
	3.3.1 Extension to Multiple Parameters	79
	3.3.2 Extension to Mixed Parameters	82
	3.3.3 Extension to Tracking Tasks	84
	3.3.4 Extension to Higher Order Systems	85
	3.4 Illustrative Example	87
	3.5 Conclusion	89
	4 Discrete-Time Adaptive Posicast Control	90
	4.1 Introduction	90
	4.2 Problem Formulation	92
	4.2.1 Continuous-Time Adaptive Posicast Controller (APC)	93
	4.3 Discrete-Time Adaptive Posicast Controller Design	93
	4.3.1 Control of a 1st Order Input Time-Delay System in Discrete-Time	94
	4.3.2 Adaptive Control of an Input Time-Delay System	95
	4.3.3 Extension to Higher Order Systems	99
	4.3.4 Stability Analysis	102
	4.4 Extension to More General Cases	104
	4.4.1 Uncertain Upper-Bounded Time-Delay	104
	4.4.2 Extension to Nonlinear Systems	108
	4.5 Illustrative Examples	113
	4.5.1 Linear Systems	113
	4.5.2 Nonlinear Systems	116
	4.6 Conclusion	117
	5 Discrete-Time Iterative Learning Control	119
	5.1 Introduction	119
	5.2 Preliminaries	120
	5.2.1 Problem Formulation	121
	5.2.2 Difference with Continuous-Time Iterative Learning Control	122
	5.3 General Iterative Learning Control: Time Domain	123
	5.3.1 Convergence Properties	124
	5.3.2 D-Type and D2-Type ILC	126
	5.3.3 Effect of Time-Delay	129
	5.4 General Iterative Learning Control: Frequency Domain	131
	5.4.1 Current-Cycle Iterative Learning	132
	5.4.2 Considerations for L(q) and Q(q) Selection	134
	5.4.3 D-Type and D2-Type ILC	135
	5.5 Special Case: Combining ILC with Multirate Technique	137
	5.5.1 Controller Design	137
	5.5.2 Multirate Structure	137
	5.5.3 Iterative Learning Scheme	138
	5.5.4 Convergence Condition	139
	5.6 Illustrative Example: Time Domain	143
	5.6.1 P-Type ILC	143
	5.6.2 D-Type and D2-Type ILC	144
	5.7 Illustrative Example: Frequency Domain	146
	5.7.1 P-Type ILC	146
	5.7.2 D-Type and D2-Type ILC	147
	5.7.3 Current-Cycle Iterative Learning Control	148
	5.7.4 L(q) Selection	150
	5.7.5 Sampling Period Selection	152
	5.8 Conclusion	154
	6 Discrete-Time Fuzzy PID Control	155
	6.1 Introduction	155
	6.2 Design of Fuzzy PID Control System	157
	6.2.1 Fuzzy PID Controller with Parallel Structure	157
	6.2.2 Tuning of the Fuzzy PID Controller	162
	6.3 Stability and Performance Analysis	165
	6.3.1 BIBO Stability Condition of the Fuzzy PID Control System	165
	6.3.2 Control Efforts Between Fuzzy and Conventional PID Controllers	169
	6.4 Illustrative Example	171
	6.5 Conclusion	173
	7 Benchmark Precision Control of a Piezo-Motor Driven Linear Stage	174
	7.1 Introduction	174
	7.2 Model of the Piezo-Motor Driven Linear Motion Stage	175
	7.2.1 Overall Model in Continuous-Time	176
	7.2.2 Friction Models	176
	7.2.3 Overall Model in Discrete-Time	178
	7.3 Discrete-Time Output ISM Control	179
	7.3.1 Controller Design and Stability Analysis	180
	7.3.2 Disturbance Observer Design	182
	7.3.3 State Observer Design	184
	7.3.4 Ultimate Tracking Error Bound	185
	7.3.5 Experimental Investigation	187
	7.4 Discrete-Time Terminal Sliding Mode Control	192
	7.5 Sampled-Data ILC Design	193
	7.5.1 Controller Parameter Design and Experimental Results	193
	7.6 Conclusion	196
	8 Advanced Control for Practical Engineering Applications	198
	8.1 Introduction	198
	8.2 Periodic Adaptive Control of a PM Synchronous Motor	199
	8.2.1 Problem Definition	199
	8.2.2 Control Strategy and Results	200
	8.3 Multirate ILC of a Ball and Beam System	204
	8.3.1 System Model	204
	8.3.2 Target Trajectory	205
	8.3.3 Controller Configurations	206
	8.3.4 System Verifications	206
	8.4 Discrete-Time Fuzzy PID of a Coupled Tank System	209
	8.4.1 System Description	210
	8.4.2 Experiment	210
	8.5 Iterative Learning Control for Freeway Traffic Control	211
	8.5.1 Traffic Model and Analysis	212
	8.5.2 Density Control	216
	8.5.3 Flow Control	219
	8.6 Conclusion	222
	Appendix Derivation of BIBO Stability Condition of Linear PID Control System	224
	References	225