2.
153 Adaptive Control
Spring 2015
Lecture 0
1-246
Anuradha Annaswamy
[email protected]
( [email protected] ) 1 / 13
Adaptive Control
Adaptive Control, a thirty-year old field, is an advanced control method that is
becoming increasingly popular in various engineering applications. The ability to
self-correct a controller in the presence of uncertainties using online information is
its main and most compelling feature. This course will lay out the foundation of
adaptive control in continuous-time and discrete-time systems. Examples from
aerospace, propulsion, automotive, and energy systems will be used to elucidate
the underlying concepts.
( [email protected] ) 2 / 13
Adaptive Control
Adaptive Control, a thirty-year old field, is an advanced control method that is
becoming increasingly popular in various engineering applications. The ability to
self-correct a controller in the presence of uncertainties using online information is
its main and most compelling feature. This course will lay out the foundation of
adaptive control in continuous-time and discrete-time systems. Examples from
aerospace, propulsion, automotive, and energy systems will be used to elucidate
the underlying concepts.
The midterm will be assigned towards the end of March, and will be an open
book exam.
( [email protected] ) 2 / 13
Adaptive Control
Adaptive Control, a thirty-year old field, is an advanced control method that is
becoming increasingly popular in various engineering applications. The ability to
self-correct a controller in the presence of uncertainties using online information is
its main and most compelling feature. This course will lay out the foundation of
adaptive control in continuous-time and discrete-time systems. Examples from
aerospace, propulsion, automotive, and energy systems will be used to elucidate
the underlying concepts.
The midterm will be assigned towards the end of March, and will be an open
book exam.
Grade distribution: Homework: 20%; Midterm: 40%; Project: 40%
( [email protected] ) 2 / 13
Adaptive Control
Adaptive Control, a thirty-year old field, is an advanced control method that is
becoming increasingly popular in various engineering applications. The ability to
self-correct a controller in the presence of uncertainties using online information is
its main and most compelling feature. This course will lay out the foundation of
adaptive control in continuous-time and discrete-time systems. Examples from
aerospace, propulsion, automotive, and energy systems will be used to elucidate
the underlying concepts.
The midterm will be assigned towards the end of March, and will be an open
book exam.
Grade distribution: Homework: 20%; Midterm: 40%; Project: 40%
Textbook: Stable Adaptive Systems, K.S. Narendra and A.M. Annaswamy, Dover
Publications, 2004.
( [email protected] ) 2 / 13
Adaptive Control
Adaptive Control, a thirty-year old field, is an advanced control method that is
becoming increasingly popular in various engineering applications. The ability to
self-correct a controller in the presence of uncertainties using online information is
its main and most compelling feature. This course will lay out the foundation of
adaptive control in continuous-time and discrete-time systems. Examples from
aerospace, propulsion, automotive, and energy systems will be used to elucidate
the underlying concepts.
The midterm will be assigned towards the end of March, and will be an open
book exam.
Grade distribution: Homework: 20%; Midterm: 40%; Project: 40%
Textbook: Stable Adaptive Systems, K.S. Narendra and A.M. Annaswamy, Dover
Publications, 2004.
Additional notes will be distributed throughout the semester.
Daily class notes will be available at: http://aaclab.mit.edu/material.php
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TOC
Lecture # Topic Date
0 Introduction Feb 4
1 Adaptive Identification - Error Model 1 Feb 9
2 Adaptive Control - Error Model 3 Feb 11
3 Adaptive Control - Scalar Case Feb 17
4 Stability Theory Feb 18
5 Closed-loop Reference Models Feb 23
6 States Accessible: SISO Plants Feb 25
7 States Accessible: MIMO Plants March 2
8 Adaptive PI Control March 4
9 Adaptive PID Control March 9
10 Adaptive Phase Lead Compensators March 11
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TOC
Lecture # Topic Date
11 Uniform Asymptotic Stability and Persistent Excitation March 16
12 Review: Stability, Asymptotic Stability March 18
13 Persistent Excitation and Adaptive Observers March 30
14 Adaptive Control - n∗ = 1 April 1
15 Adaptive Control - n∗ = 1 April 6
16 Adaptive Control - n∗ ≥ 2 April 8
17 Adaptive Control - n∗ ≥ 2 April 13
18 Robust Adaptive Control - Disturbances April 15
19 Robust Adaptve Control -Time-varying Parameters April 22
20 Robust Adaptve Control - Unmodeled Dynamics April 27
21 High Order Tuners April 29
22 Back stepping methods May 4
23 Adaptive Systems with Saturation May 6
24 Project presentations May 11
25 Project presentations May 13
(
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Definition of Adaptation
Biology: Advantageous Conformation of an Organism to Changes
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Definition of Adaptation
Biology: Advantageous Conformation of an Organism to Changes
Adaptive Control: The control of Uncertain Systems
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Definition of Adaptation
Biology: Advantageous Conformation of an Organism to Changes
Adaptive Control: The control of Uncertain Systems
Other Definitions:
Truxal: An adaptive system is one designed from an adaptive viewpoint.
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Definition of Adaptation
Biology: Advantageous Conformation of an Organism to Changes
Adaptive Control: The control of Uncertain Systems
Other Definitions:
Truxal: An adaptive system is one designed from an adaptive viewpoint.
Zadeh: A is adaptive with respect to Sγ and Γ if it performs acceptably
well for every source in the family Sγ , γ ∈ Γ
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Definition of Adaptation (contd.)
Bellman:
Deterministic System: When the controller has complete information
about the behavior of the inputs, and the system is completely specified.
Stochastic system: When unknown factors are present in the system which
appear mathematically as random variables with knwon distribution
functions
Adaptive system: Even less is known about the system and the controller
has to learn to improve its performance through the observation of the
outputs of the system as it evolves.
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Definition of Adaptation (contd.)
Bellman:
Deterministic System: When the controller has complete information
about the behavior of the inputs, and the system is completely specified.
Stochastic system: When unknown factors are present in the system which
appear mathematically as random variables with knwon distribution
functions
Adaptive system: Even less is known about the system and the controller
has to learn to improve its performance through the observation of the
outputs of the system as it evolves.
In this course:
Adaptive Control: The control of plants with unknown parameters
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Control System
Open-loop Dynamic System
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Control System
Open-loop Dynamic System Feedback Control System
Performance Measures: Stability, speed, accuracy
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Adaptive Control System
In the presence of uncertainties, using prior and on-line information, the
controller adapts itself.
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History
Adaptive systems
Caught the imagination in the 60’s
Several symposia - to define adaptation
First use in flight control
Hypersonics program - highly successful
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History
Adaptive systems
Caught the imagination in the 60’s
Several symposia - to define adaptation
First use in flight control
Hypersonics program - highly successful
Five classes of adaptive systems
Passive Adaptation
Input Signal Adaptation
System variable adaptation
System characteristic adaptation
Extremum adaptation
( [email protected] ) 9 / 13
Adaptive Control: A Parametric Framework
Nonlinear, time-varying, with unknown parameter θ
ẋ = f (x, u, θ, t) y = h(x, u, θ, t)
Nonlinear, with unknown parameter θ
ẋ = f (x, u, θ) y = h(x, u, θ)
Linear Time-Varying (LTV) with unknown parameter θ
ẋ = A(θ, t)x + B(θ, t)u y = C(θ, t)x + D(θ, t)u
Linear Time-Invariant (LTI) with unknown parameter θ
ẋ = A(θ)x + B(θ)u y = C(θ)x + D(θ)u
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Adaptive Control: A Parametric Framework
Nonlinear, time-varying, with unknown parameter θ
ẋ = f (x, u, θ, t) y = h(x, u, θ, t)
Nonlinear, with unknown parameter θ
ẋ = f (x, u, θ) y = h(x, u, θ)
Linear Time-Varying (LTV) with unknown parameter θ
ẋ = A(θ, t)x + B(θ, t)u y = C(θ, t)x + D(θ, t)u
Linear Time-Invariant (LTI) with unknown parameter θ
ẋ = A(θ)x + B(θ)u y = C(θ)x + D(θ)u
Adapt to the unknown parameter
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Direct and Indirect Adaptive Control
θp : Plant parameter - unknown; θc : Control parameter
Indirect Adaptive Control: Estimate θp as θ̂p . Compute θ̂c using θ̂p .
Also known as Explicit Estimation
Direct Adaptive Control: Directly estimate θc as θ̂c . Compute the plant
estimate θ̂p using θ̂c
Also known as Implicit Estimation
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Parametric Adaptation
Parameter perturbation methods
Sensitivity methods
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In this course
Many of our discussions will involve
( [email protected] ) 13 / 13
In this course
Many of our discussions will involve
Control designs motivated by linear design methods
( [email protected] ) 13 / 13
In this course
Many of our discussions will involve
Control designs motivated by linear design methods
Parametrizations of the control structure
( [email protected] ) 13 / 13
In this course
Many of our discussions will involve
Control designs motivated by linear design methods
Parametrizations of the control structure
Parameter adjustment rules - Adaptive laws
( [email protected] ) 13 / 13
In this course
Many of our discussions will involve
Control designs motivated by linear design methods
Parametrizations of the control structure
Parameter adjustment rules - Adaptive laws
What to measure?
What to adjust? How many parameters?
How often?
How do we adjust?
( [email protected] ) 13 / 13
In this course
Many of our discussions will involve
Control designs motivated by linear design methods
Parametrizations of the control structure
Parameter adjustment rules - Adaptive laws
What to measure?
What to adjust? How many parameters?
How often?
How do we adjust?
A Stability Framework
( [email protected] ) 13 / 13
