IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 38, NO.

4, APRIL 1993 667

[4] L. Y. Wang and L. Lin, “e-dimension of exponentially stable In the present note, we give a theorem that shows the relation
systems,” Wayne State Univ., Detroit, MI. Tech. Rep., 1991. between P-’ and Q for Fourier trigonometric functions. More-
151 A. J. Helmicki, C. A. Jacobson, and C. N. Nett, “Control Oriented
System Identification: A Worst Case/Deterministic Approach in over, the meaning of using one matrix instead of the other is
H,,” IEEE Trans. Automat. Contr., vol. 36, pp. 1163-1176, Oct. discussed in light of the theorem. To this aim, the periodic
1991. properties of trigonometric functions and the concept of distri-
[6] G. G. Lorentz, Approximation of Functions. New York Chelsea, butional convergence are used.
1986. The note is organized as follows: in the next section some
[7] L. V. Taikov, “Diameters of certain classes of analytic functions,”
Mat. Zametki, vol. 22, pp. 535-542, 1977. preliminaries on the series of orthogonal basis functions are
[8] V. M. Tichomirov, “Diameters of sets in function spaces,” Uspehi given, and the matrices P and Q are formally introduced. In
Mat. Nauk, Russian Math Surveys, vol. 15, pp. 75-111, 1960. Section 111 the main theorem is stated, and its consequences
[Y] A. G. Vitushkin, Theory of the Transmission and Processing of are discussed, in particular regarding the approximating proper-
Information. New York Pergamon, 1961.
ties that have to be expected when using P-’ or Q, respec-
[lo] H. Widom, “Toeplitz matrices,” in Studies in Real and Complex
tively. Finally, a simple numerical example is presented, and
Analysis (Math. Assoc. Amer., Studies Math.), I. I. Hirschmann, Jr.,
Ed. Englewood Cliffs, NJ: Prentice-Hall, 1965. conclusions are drawn.
[ll] A. Pinkus, n-Widths in Approximation Theory. New York
Springer-Verlag,1985. 11. PRELIMINARIES
Consider the space L,([O,T])of the square integrable func-
tions defined over the interval [O,T]. L,([O,T]) is an Hilbert
space equipped with the scalar product
Comments on the Properties of the 1
( f >g ) = +f)g(t) dt (2.1)
Operational Matrices of Integration
and Differentiation for Fourier and corresponding induced norm
Trigonometric Functions
llfll = ((f,f))”2. (2.2)
Andrea Caiti and Giorgio Cannata Consider the vector QN of N orthogonal functions over the
interval [O, TI
Abstract-In this note, the properties of the operational matrices of
integration, P, and differentiation Q , are discussed for the case of
@N = [ 41 **. 4 N I‘ (2-3)
Fourier trigonometric functions. In particular a theorem that establishes where [ IT stands for the transpose, and assume that mN + “,,
the relation between the matrices P -’and Q is given, and the meaning as N + m, where is a basis of L,([O,TI). Let SNbe the
of using P -’instead of Q, recently proposed in literature, is clarified. subspace of L2([0,T I ) spanned by Q N .
Consider now a generic function x: [O,T] -+ R” such that
I. INTRODUCTION each of its components xi is in L,([O, TI). The component-wise
projection of x over FN, 9 ( x , S N ) ,is still in L,([O, TI), and can
The analysis of control systems over a finite time interval
be expressed through an n X N matrix of coefficients X as
through sets of orthogonal functions is becoming an increasingly
follows:
relevant tool in a wide range of applications, i.e., systems analy-
sis and design [1]-[5], optimal control [6]-[9], generalized state- 9 ( X , F N ) = X@., (2.4)
space systems analysis [lo]-[15], systems inversion [16], [17]. where each coefficient x i j of the matrix X is given by
Regardless the class of orthogonal functions selected, this kind
of approach is based on the approximation of the state x, the xij K , ( x i , 4j) (2.5)
control U , the output y and the known terms w (initial condi- where K , is a constant depending on the chosen basis functions.
tions, etc.) in terms of finite summations of orthogonal func- The operational matrix of integration PN is defined through the
tions. Then, by using the so called operational matrices of projection, over FN, of the integral of Q N
integration, P , and of differentiation, Q, the original dynamic
equations can be replaced by algebraic ones. ) P,@,(t)
L ? ’ ( ( @ ~ ( T ) ~ T , . ~ &= Vt E [ O , T ] . (2.6)
In the particular case of Fourier trigonometric functions, the
matrices P and Q have been recently derived by Paraskevopou- In a similar way, if the derivative of the orthogonal functions is
10s [18]. Moreover in [l8] it is suggested to use the matrix P-’ defined in the standard sense, the operational matrix of differ-
as operational matrix of differentiation, due to the singularity entiation QN is defined as follows:
of Q.

Manuscript received February 21,1992; revised July 3,1992.This work

was supported in part by MURST 40% project “Identificazione di
9 - aN,FN
c t 1
( t ) = QNaN(t) V t E ( 0 , T ) . (2.7)

Consider now the periodic Fourier trigonometric functions

modelli, controllo di sistemi, elaborazione di segnali.”
A. Caiti is with the DIST, Department of Communication, Computer “(t) = [1/J?s,cos (wt),sin (wt) -.-cos(kwt),sin (kwt)]’
and System Sciences, University of Genova, Via Opera Pia lla, 16145
Genova, Italy. V t E [O,T] (2.8)
G. Cannata is with the IAN-CNR,Naval Automation Institute, Italian
National Research Council, Via De Marini 6, 16149 Causa 18r, 16145 being w = (2.rr/T), and N = 2k + 1, k E N. The structure of
Genova, Italy. the corresponding operational matrices of integration and dif-
IEEE Log Number 9205282. ferentiation has been given in [18], and is reported here for self

0018-9286/93$03.00 0 1993 IEEE

668 IEEE TRANSACTIONSON AUTOMATIC CONTROL, VOL. 38, NO. 4, APRIL 1993

consistency Theorem 1: V N = 2k + 1, k E N, the matrix Pi;' has the

a 0 -& 0 -&/2 '.. 0 -&/k

0 0 1 0 0
42 -1 0 0 0
1 0 0 0 0 1/2
P, = - 6/2 0 0 -1/2 0 0
0

6 / k 0 -l/k 0

and form
0 0 0 0 0 ... 0 0 1
0 0 -1 0 0 ... 0 0 4
0 1 0 0 0 0
.
0
. Pi' = QN + T@,(O)@;(O). (3.1)
0 0 0 0 - 2 . .
QN = . (2.10)
0 Pro05
. 0. 0
. 2 0
Step 1) The matrix P i has the following structure:
. . .
0 0 0 .. 0 -k
0 0 0 .. k O -
&/a 0 &/a 0 ... &/a
2/a -1 2/a 0 .'* 2/a
1 0 0 0 ... 0
2/a 0 2/a -2
0 0 2 0 2/a 0
0 0
&/a 2/a 0 ... 2/a 0 2/a -k
0 0 0 ... O O k 0
Note that the equality (d/dt)@,(t) = Q,aN(t>is exact for each The proof of step 1) can be made by induction. For N = 1 we
odd N , while P, can be used as an approximated integration have PN = (a/w), and P i 1 = (@/a). Let N = 2k + 1 be an
operator through the relation 10'@JT) d7 = PN@ , ( t > . integer such that emression (3.2) is true; consider the matrices
Paraskevopoulos [MI stated that, through the use of PN and
Q N and the above mentioned assumptions, integral and differ-
ential operations over a function n can be replaced by the
approximations: 10' X ( T ) dT = XP,@.,(t), ( d / d t ) x ( t ) = where
XQ,@,(t). These two approximated relations have been taken 0 0 ...
as a starting point in various algorithms for the analysis, and -&/(k + 1) 0 ...
optimal control system design, based on orthogonal functions
expansions. However, due to the singularity of QN for every N,
it has been suggested in [18] to use P i 1 instead of QN in all the
dN= ;
-l/(k[0
+ 1) 0
algorithms in which Q, might need to be inverted. This is the a ; = w [&/a 2/a 0 2/a 0 ... 2/a 01
starting point of the work presented here. 0 0 0 0 0 ... 0 0

111. PROPERTIES OF THE MATRICES

OF INTEGRATION AND 0 -
DIFFERENTIATION It is then immediate to see that PN+z&:, = I N + 2 .
From the statements of the previous section there seems to be Step 2) The matrix P i ' can be decomposed into the sum of
inconsistency in the use of the operational matrix of differentia- two distinct matrices P i ' = Q , + S,, where
tion: although we know that Q, is the exact finite dimensional
representation of the derivative operator, we are suggested that
the approximation with P i 1 might be more convenient for
practical purposes. Two problems need then to be addressed:

is there any structural relation between P i ' and Q N ; -2.0 &/2 1 0 1 0

what is the effect of using one or the other in the context of a 0 0 0 0 0 1 0
the periodic approximation of functions with a trigonomet- 0 0
ric representation. .
&;2 ; 0 ..' 1 0 1 0
The first point is answered by the following. 0 0 0 ... 0 0 0 0
IEEE TRANSACTIONS ON AUTOMATTC CONTROL, VOL. 38, NO. 4, APRIL 1993 669

S , can be expressed as the product of a vector for its transposed Substituting expressions (3.31, (3.4), and (3.8) into (3.9), we
2u 4 obtain the following equality
sN -- - v N UNT - --U
~ T N v=N
m
d "
where
- c
dt l = o
x,&(t) = c
1=0
XLh(t)
UN= [1/& 1 0 1 0 ... 1 O f = @,(0). oc

In order to understand the practical implications of the struc-

2
-4 T ) )
+ -(a9
T
c 41(o)41(t).(3.10)
r=O
tural relation between P i 1 and Q,, it is necessary to consider
the exact meaning of approximating functions and their deriva- We recall that (d/dt)E:=o x,+,(t) = x , ( d / d t ) 4 1 ( t )whether
,
tives, defined over a finite interval, with trigonometric functions. c=o x , & ( t ) identifies a period function or a periodic distribu-
Without loss of generality, in the following only the scalar case is tion [19]. Consider now the truncation of the series, in equality
considered. (3.101, to the Nth term, with N = 2k + 1. Since the operational
Let x : [O, TI + R be a bounded function, continuous matrix of differentiation QN is exact, we can write the following
and differentiable as many times as needed over (0,T). Then exact relation
x ( t ) E L2([0,TI). Defining i ( 0 ) = lim,,,, i ( t ) , and X ( T ) = 2
lim, T - i ( t ) , also f ( t ) E L,([0, TI). The trigonometric series X N Q N @ N ( ~ )x ~ @ N ( t )+ ~ ( ~ ( -0 ~1( T ) ) @ L ( O ) @ N ( ~ )
expansion of x ( t ) and x ( t >are given by
m m (3.11)
f(t) = K$,(x, d+)$b1(t) = C x , $ , ( f ) (3.3) and, equating the corresponding terms we obtain
1=0 1=O
m m 2
Z(t) =
1=0
K$,(X.,4 1 M L ( t =
) c
1=0
i14+(t). (3.4) X N Q N= X N + ~ ( x ( 0 -
) x(T))@L(O). (3.12)

The truncation of 2(t> and E(t) to the first N trigonometric Equation (3.12) gives the interpretation of the use of the opera-
functions can be written as follows tional matrix of differentiation. The matrix e,,
applied to the
9 ( 2 , F N ) ( t )= i , ( t ) = X N Q N ( t ) (3.5a) coefficients of the truncated series expansion of d t ) , gives
the coefficients of the derivative of r(t) plus the coeficients of an
P(&F,)(t) = E N ( t ) = X N Q N ( t ) . (3.5b) impulse term due to the mismatch between x(0) and x ( T ) at the
From elementary calculus we know that P(t) = x ( t ) , V t E (0, T ) , beginning and the end of the periodic intemal [O, TI.
and For any fixed odd number N of trigonometric functions, using
(3.61, we can write the following relation:
4 0 ) +x(T)
+
Note also that f ( t ) is defined over ( - m, m), and is the periodic P(0) = f(T) = X,@,(O)
2
= + rN (3.13)
extension of x ( t ) over the whole real axis. The derivative of f ( t )
is also defined over (-io, + m); however it has now to be intended where rN is a residual term such that r, + 0 as N + W.
in distributional sense, since derivatives in the standard sense Equation (3.13) may be written as follows:
may not be defined for f ( t ) at the points 0, & T, 2T ... & qT, x(T) = 2XNON(O) - x ( O ) - 2rN. (3.14)
q E N. For the treatment of Fourier trigonometric series in a
distributional setting we refer to [19]. For what is of concern By substituting (3.14) into (3.12), the following holds
here, it is sufficient to say that the periodic Dirac's delta distri- 4 4
bution, 8(t), and its derivatives, as well as standard periodic X N Q N = XN + -x(O)@;(o)
T
- -x
T"
@ (O)@L(O)
functions, can be treated homogeneously through their Fourier
coefficients. In the following, every equality between Fourier 4
series is to be intended as an equality between periodic distribu-
+ T r N @ i ( 0 ) (3.15)
tions. We report the following lemma. and finally, by Theorem 1
Lemma 1: Given the set of the first N = 2k 1 Fourier +
functions aN,the periodic 8(t> distribution can be approxi- 4 4
mated as
XNPil + -~(0)@;(0)
=kN T + T r N @ L ( 0 ) . (3.16)
2 2
8,(t) = -@L(o)@N(t) -[1/fi 1 0 1"'o]@N(t) Equation (3.16) gives the interpretation of the use of the inverse
T T of the operational matrix of integration. Let us neglect for the
(3.7) moment the term due to the residual r N . The matrix P,;',
8, --f S for N --f m in the sense of periodic distributions. applied to the coefficients of the truncated series expansion of
Proof (see [19]). x ( t ) , gives as result the coefficients of the truncated series
Due to Lemma 1, the periodic 8 ( t ) distribution can be written expansion of i ( t ) plus an impulsiue term due to the initial value of
through its Fourier coefficients as follows x ( t ) ut the beginning of each period. In practice, the use of Pi'
2 " automatically takes into account the effect of x ( T ) on the
8(t) = -
T j=0
C
&(0)bi(t) = 8(t fkT), k E N. (3.8) Fourier approximation of x ( t ) . Let us now consider again the
term due to the residual r,. This term goes to zero as N + m,
From the above considerations on the trigonometric representa- thus guaranteeing the distributional convergence of the approxi-
tion, and given the assumptions on x(t>, 2 ( t ) will have at most a mation (3.16). However, for each finite N in (3.161, neglecting
step discontinuity at the beginning and the end of each period. the term due to r, causes the presence of unphysical (approxi-
Consider now the distributional derivative of f ( t )
mated) impulses. It is important also to note that (3.161.i~exact,
d P

and equivalent to (3.12). Moreover when solved for X,, gives

-?(t) = i ( t - kT) +x(0)6(t - k T )
dt k=O the true first N Fourier coefficients of i .On the other hand, if
+
- x ( T ) S ( t - ( k 1)T). (3.9) the term r, is neglected, the first N true coefficients of the
670 IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 38, NO. 4,APRIL 1993

*““I I

I I
1 2 3 4 5 6 I 1 2 3 4 5 6 I
time [sec] time [sec]

Fig. 1. True (dotted line) and approximated (solid line) derivatives Fig. 2. Approximated derivative computed using (4.1).
computed using (3.12) and (3.16).

l r I

expansion of x can be asymptotically approximated only solving

systems of growing dimensions.
IV. EXAMPLES
The results of the analysis on the use of the operational
matrices of integration and differentiation are summarized here
O
-[:
by means of a practical example. Let us consider the function
x ( t ) = t 2 , with t E [0,2a], and let us approximate its time

derivative, shown in dotted line in Fig. 1, with a finite number of
basis functions. In Fig. 1 the true periodic approximation of 2 t ,
using Fourier basis functions, is shown, for N = 41.
First case: use of Q,:
Since x(0) and x(27-r) are known, (3.12) can be applied, and the
result is shown in Fig. 1. Of course, since (3.12) is exact, the
differences between its solution and the true periodic approxi-
mation of 2t is due only to numerical round-off errors. If the
impulse term due to the mismatch between x(0) and x(2a) is
neglected, and the equation
XNQN =X N (4.1)
is applied, the result shown in Fig. 2 is obtained. To summarize:
the operational matrix of differentiation Q N is used consistently
only by those algorithms that explicitly take into account the
boundary values, at the beginning and the end of the interval of
interest, of the signals involved.
Second case: use of P i ’ .
Due to the knowledge of ~(25-1,it is possible to explicitly
determine r,. Then, the application of (3.16) leads to an approx-
imation which is the same of those shown in Fig. 1, since also
(3.16) is an exact relation. If, on the other hand, the term rN is
neglected, the computed solution presents an error term repre-
sented in Fig. 3. To summarize: the use of the inverse of the
operational matrix of integration as a substitute for the opera-
tional matrix of differentiation is justified only by those algo-
rithms that explicitly take into account the initial value of the
signals involved at the beginning of the interval of interest. The
use of P;’ results in an approximation of the true coefficients
searched, convergent to the true coefficients as the number of
basis functions tends to infinity.
V. CONCLUSIONS
The structural relation between the operational matrix of
differentiation, QN, and the inverse of the operational matrix of
-21
-1.5
-25
1
-3: 1 2 3 4 5 6 7
time [sec]
Fig. 3. Error neglecting the term rN in (3.16).
’,
integration, Pi for Fourier trigonometric functions has been
derived. By exploiting this relation, the operative meaning of
using one or the other in the analysis of control systems as
approximated derivative operator has been discussed. The results
reported are considered of great importance for the under-
standing and the practical application of orthogonal functions as
a tool in system analysis and control design, as the orthogonal
functions approach becomes more widespread and commonly
used.
REFERENCES
[ l ] P. N. Paraskevopoulos, “Chebychev series approach to system
identification, analysis and optimal control,” J. Franklin Inst., vol.
316, pp. 135-157, 1983.
[2] M. Razzaghi and A. Arabshahi, “Analysis of linear time-varying
systems and bilinear systems via Fourier series,” Znt. J. Contr., vol.
50, no. 3, pp. 889-898, 1989.
[31 F. L. Lewis, B. G. Mertzios, G. Vachtsevanos, and M. A.
Christodoulou, “Analysis of bilinear systems using Walsh func-
tions,” ZEEE Trans. Automat. Contr., vol. 35, no. 1, pp. 119-123,
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[4] L. S. Shieh, C. K. Yeung, and B. C. McInnis, “Solution of state
space equations via block-pulse functions,” Znt. J. Contr., vol. 28,
no. 3, pp. 383-392, 1978.
[5] T. H. Moulden and M. A. Scott, “Walsh spectral analysis for
ordinary differential equations: Part I-Initial value problems,”
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[6] C. F. Chen and C. H. Hsiao, “Design of piecewise constant gains
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Contr., vol. AC-20, no. 5, pp. 596-603, Oct. 1975.
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W. L. Chen and Y . P. Shih, “Analysis and optimal control of I. INTRODUCTION

time-varying linear systems via Walsh functions,” Int. J. Contr., vol.
27, no. 6, pp, 917-932, 1978. Consider a Hamiltonian systems written as follows:
N. S. Hsu and B. Cheng, “Analysis and optimal control of time- Hq + C ( q ,x ) q + g ( x ) = 7
varying linear systems via block pulse functions,” Int. J. Contr., vol.
33, no. 6 , pp. 1107-1122, 1981. =J ( x ) qx (1)
T. T. Lee and Y. F. Tsay, “Applications of general discrete where q E !RE is the local coordinates, x E 8’’ is a vector in
orthogonal polynomials to optimal control systems,” Int. J. Contr.,
vol. 43, pp. 1375-1386, 1986. the inertial frame and T E 8’’ is the vector of control torques.
F. L. Lewis and G. B. Mertzios, “Analysis of singular systems using H is the inertia matrix and Cq is a nonlinear vector of Coriolis
orthogonal functions,” IEEE Trans. Automat. Contr., vol. AC-32, and sentripetal forces, g ( x ) E is the gravity vector and J is
no. 6, pp. 527-530, June 1987. an n X n transformation matrix. Slotine and Benedetto [l]write
F. L. Lewis, B. G. Mertzios, and W. Marszalek, “Analysis of (1) as follows:
singular bilinear systems using Walsh functions,” ZEE Proc., Part
D, vol. 138, no. 2, pp. 89-92, Mar. 1991. ff*(X)f + c * ( X , i)X f g * ( X ) = J-TT
P. N. Paraskevopoulos, “Analysis of singular systems using orthog- where
onal functions,” IEE Proc., Part D, vol. 131, no. 1, pp. 37-38, Jan.
1984. H * ( x ) = J-THJ-1
A. Caiti and G. Cannata, “Regularization techniques for the
analysis of singular dynamic systems,” in Proc. 29th IEEE Con$ C * ( x , i)= J - T [ C - HJ-ljIJ-1
Decision Contr., Honolulu, HI, Dec. 1990, pp. 3603-3605. g * ( x ) = J-Tg.
-, “On the stability of spectral methods for the numerical
solution of descriptor systems,” in Proc. 13th I M C S World Assume the desired trajectory i d , i dand
, xd to be bounded.
Congress Comp. Appl. Math., Dublin, Ireland, July 1991, pp. The tracking error vector f is defined as f = x - xd while
453-454.
A. Caiti, G. Cannata, and P. Fabbri, “Stability of spectral methods s=i+Af (2)
for the solution of descriptor systems using Fourier functions,” in is used as a measure of tracking. A is a strictly positive constant
Proc. ISZRS ’91, Warsaw, Poland, pp. 51-54, July 1991. which may be interpreted as the control bandwidth. It is conve-
F. L. Lewis, M. A. Christodoulou, and B. G. Mertzios, “System
inversion using orthogonal functions,” Circuit Syst. Signal Process, nient to rewrite (2) as follows:
vol. 6, no. 3, pp. 347-362, 1987.
s =x - x, where x, = i d - If.
G. Bartolini, A. Caiti, G.Cannata, and C. Rossi, “Simulation of
descriptor systems: An application. The Numerical Solution of It is important to notice that the terms H * and C* are linear in
Inverse Problems,” in Proc. IFIP Conf Modeling Innovation, their parameters. These unknown paramFters may be lumped
North-Holland: Elsevier, IFIP, 1990, pp. 41 1-417.
together into a parameter vector 0 Le! 8 be the time-varying
P. N. Paraskevopoulos, “The operational matrices of integration
and differentiation for the Fourier sine-cosine and exponential parameter vector estimate and let 8 = 8 - 8 be the parameter
series,” IEEE Trans. Autom. Contr., vol. AC-32, no. 7, pp. 648-651, error vector. To prove global stability Slotine and Benedetto [l]
July 1987. suggest using a Lyapunov-like function candidate
R. Beak, Aduanced Mathematical Analysis. New York: Springer-
1 1-
Verlag, 1973, chs. 3, 4. v ( s , B , t ) = -2 s ~ H *+~-oTrB
2
where I? is a positive definite weighting matrix of appropriate
dimension. Differentiating V with respect to time and using the
skew-symmetry property x T ( f i * - 2 C * ) i = 0 yields the follow-
Comments on “Hamiltonian Adaptive ing expression:
Control of Spacecraft”
V = .(’ J - - ~~ ~ *- c*i,
i -~g * ) + iTri. (3)
Thor I. Fossen This suggests that the control law can be selected as

Abstract-In the adaptive scheme presented by Slotine and Benedetto

T =JT (8.2, + i.*xi-,+ $* - K,s). (4)
[11 for attitude tracking control of rigid spacecraft, the spacecraft is Here the hat denotes the adaptive estimates and KO is a
parameterized in terms of the inertial frame. This note shows how a
parameterization in body coordinates considerably simplifies the repre-
positive definite design matrix of appropriate dimension. Com-
sentation of the adaptation scheme. The new symbolic expression for the bining (3) and (4) yields
regressor matrix is easy to find even for 6 degrees of freedom (DOF)
Hamiltonian systems with a large number of unknown parameters. If the v = - s ~ ~ D S
s + i r + i*)
~ ( f i+*t*ir h + e
symbolic expression for the regressor matrix is known in advance, the
where E?* = A* - H * , C* = C* - C* and g = $* - g*.Using
- A

computational complexity is approximately equal for both representa-

tions. In the scheme presented by Slotine and Benedetto 111 this is not the parameterization of Slotine and Benedetto [l],implies that
trivial because the transformation matrix between the inertial frame and
the body coordinates is included in the expression for the regressor ~ * i c*ir ,+ + g* = w y x , i ,i,.,i , ) e (5)
matrix. Hence, implementation for higher DOF systems is strongly where @ * ( x , f, x,, i,)is a known regressor matrix of appropri-
complicated. An example illustrates the advantage of the new represen- ate dimensions. Hence (3) may be written as follows:
tation when modeling a simple 3 DOF model of the lateral motion of a
space shuttle. v = -s*~Ds + CT(r-6 + @*=SI

Assuming that 6 = 0, yields the parameter adaption law:

Manuscript received August 10, 1990; revised October 31, 1990.
The author is with the Division of Engineering Cybernetics, The -r- 1 @ * T ( x , i ,i.,,2 , ) s (6)
Norwegian Institute of Technology, University of Trondheim, N-7034
Trondheim. Nonvav. which implies that V = -sTK,s I0. This shows that s + 0 and
IEEE Ldg NumGer 9205284. thus t h a t i -+ 0.

0018-9286/93$03.00 0 1993 IEEE