Fuzzy controllers are a class of knowledge based controllers using artificial intelligence techniques with origins in fuzzy logic. They can be found either as stand-alone control elements or as integral parts of distributed control systems including conventional controllers in a wide range of industrial process control systems and consumer products. Applications of fuzzy controllers have become a well established practice for Japanese manufacturers of control equipment and systems, and are becoming more and more common in Europe and America. The main aim of this book is to show that fuzzy control is not totally ad hoc, that there exist formal techniques for the analysis of a fuzzy controller, and that fuzzy control can be implemented even when no expert knowledge is available. Thus the book is mainly oriented toward control engineers and theorists, although parts can be read without any knowledge of control theory and may be of interest to Al people. This 2nd, revised edition incorporates suggestions from numerous reviewers and updates and reorganizes some of the material.

Fuzzy controllers are a class of knowledge based controllers using artificial intelligence techniques with origins in fuzzy logic. They can be found either as stand-alone control elements or as integral parts of a wide range of industrial process control systems and consumer products. Applications of fuzzy controllers are an established practice for Japanese manufacturers, and are spreading in Europe and America. The main aim of this book is to show that fuzzy control is not totally ad hoc, that there exist formal techniques for the analysis of a fuzzy controller, and that fuzzy control can be implemented even when no expert knowledge is available. The book is mainly oriented to control engineers and theorists, although parts can be read without any knowledge of control theory and may interest AI people. This 2nd, revised edition incorporates suggestions from numerous reviewers and updates and reorganizes some of the material.

The DMV seminar "Stochastische Approximation und Optimierung zufalliger Systeme" was held at Blaubeuren, 28. 5. -4. 6. 1989. The goal was to give an approach to theory and application of stochas tic approximation in view of optimization problems, especially in engineering systems. These notes are based on the seminar lectures. They consist of three parts: I. Foundations of stochastic approximation (H. Walk); n. Applicational aspects of stochastic approximation (G. PHug); In. Applications to adaptation: ugorithms (L. Ljung). The prerequisites for reading this book are basic knowledge in probability, mathematical statistics, optimization. We would like to thank Prof. M. Barner and Prof. G. Fischer for the or ganization of the seminar. We also thank the participants for their cooperation and our assistants and secretaries for typing the manuscript. November 1991 L. Ljung, G. PHug, H. Walk Table of contents I Foundations of stochastic approximation (H. Walk) 1 Almost sure convergence of stochastic approximation procedures 2 2 Recursive methods for linear problems 17 3 Stochastic optimization under stochastic constraints 22 4 A learning model; recursive density estimation 27 5 Invariance principles in stochastic approximation 30 6 On the theory of large deviations 43 References for Part I 45 11 Applicational aspects of stochastic approximation (G. PHug) 7 Markovian stochastic optimization and stochastic approximation procedures 53 8 Asymptotic distributions 71 9 Stopping times 79 1O Applications of stochastic approximation methods 80 References for Part II 90 III Applications to adaptation algorithms (L."