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Adaptive Control: Course Overview

This document provides an overview of an adaptive control course. It will cover introduction to parametric models, parameter identification, model reference adaptive control, adaptive pole placement control, and adaptive control for nonlinear systems. The grading will be based 50% on a final exam and 50% on projects. Key topics that will be discussed include the history of adaptive control, plant representation, control system design, adaptive control design strategies like identifier-based and non-identifier-based adaptive control, and specific strategies like model reference adaptive control and self-tuning regulators.

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SAN JUAN BAUTISTA
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75 views12 pages

Adaptive Control: Course Overview

This document provides an overview of an adaptive control course. It will cover introduction to parametric models, parameter identification, model reference adaptive control, adaptive pole placement control, and adaptive control for nonlinear systems. The grading will be based 50% on a final exam and 50% on projects. Key topics that will be discussed include the history of adaptive control, plant representation, control system design, adaptive control design strategies like identifier-based and non-identifier-based adaptive control, and specific strategies like model reference adaptive control and self-tuning regulators.

Uploaded by

SAN JUAN BAUTISTA
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Reza Mohammadkhani, PhD Email: mohammadkhani@ieee.

org
University of Kurdistan, Iran.
1
Adaptive Control
Fall 2012
Course Overview
2
Introduction
Parametric Models
Parameter Identifications
Model Reference Adaptive Control
Adaptive Pole Placement Control
Adaptive Control for Non-linear Systems

Text Books
3
Lecture notes
P. A. Ioannou and B. Fidan, Adaptive Control
Tutorial, SIAM, 2006.
P. Ioannou and J. Sun, Robust Adaptive Control,
Prentice Hall, 1996.
K. J. Astrom and B. Wittenmark, Adaptive Control,
2nd Edition, Addison-Wesley, 1995.

Grading
4
Final 50%
Projects 50%
Introduction
5
History of Adaptive Control
6
1950s
Autopilots for high-performance
aircrafts operating over a wide
range of speeds and altitudes.
1960s
Space state and stability theory.
1970s-1980s
Proof for stability of adaptive
control systems.
Control System
7
Plant Representation
Control system
Control System Design
8
Control System Design (cont.)
9
Problems
10
Unknown plant model or parameters
Plant parameters can vary with time!
Unknown disturbance characteristics
Adaptive controller: adapt to changes
To adapt: to change a behaviour to conform to
new circumstances.



Adaptive Controller
11
A controller with adjustable parameters and a
mechanism for adjusting the parameters.
Adaptive Control Design Strategies
12
Identifier-based Adaptive Control

Non-identifier-based Adaptive Control

Non-identifier-based Adaptive Control
13
Gain Scheduling
Switching Control
Multiple Model Control
Gain Scheduling
14
Switching Control
15
Switching between multiple models
Identifier-based Adaptive Control
16
Model Reference Adaptive Control
Self-Tuning Regulator
PID control
Model Reference
17
Self-Tuning Regulator
18
Adaptive Control Strategies
19
Indirect Adaptive control
Direct Adaptive Control
Indirect Adaptive Control
20
estimate plant
parameters
compute controller
parameters
relies on convergence
of the estimated
parameters to their
true unknown values



Direct Adaptive Control
21
no plant parameter
estimation

estimate controller
parameters (gains) only


What kind of controller?
22
23
Thank You!

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