Advanced Control
Assoc. Prof. Dr. Savas SAHIN
Contents
• Model Reference Adaptive Systems
• Introduction
• MIT Rule
• Determination of the Adaptation Gain
• Lyapunov Theory
• Designing MRAS using Lyapunov Theory
• Bounded Input, Bounded Output Stability
• Applications to Adaptive Control
• Nonlinear Systems
Introduction
• Reference Model
• Adjustment mechanism
• Controller parameters
Introduction
- In the MRAS the desired
behavior of the system is specified
by a model, and the parameters of
the controller are adjusted based
on the error, which is
the difference between the outputs
of the dosed-loop system and the
model.
Introduction
- In the MRAS the desired
behavior of the system is specified
by a model, and the parameters of
the controller are adjusted based
on the error, which is
the difference between the outputs
of the dosed-loop system and the
model.
MIT Rule
• It was developed at the Instrumentation Laboratory (now the Draper
Laboratory) at MIT (1961).
• Original approach
• A scalar parameter adjustment law
MIT Rule
•
MIT Rule
•
MIT Rule
•
MIT Rule
•
MIT Rule
•
MIT Rule
•
MIT Rule
• Block diagram of the MRAS is as given in figure;
MIT Rule
•
MIT Rule
•
MIT Rule
•
MIT Rule
MIT Rule
Ex:
MIT Rule
Ex:
MIT Rule
MIT Rule
MIT Rule
Determination of the Adaptation Gain
•
Determination of the Adaptation Gain
•
Determination of the Adaptation Gain
•
Determination of the Adaptation Gain
• Ex. 5.4
Determination of the Adaptation Gain
•
Determination of the Adaptation Gain
• Ex.5.5
Determination of the Adaptation Gain
Determination of the Adaptation Gain
Lyapunov Theory
•
Lyapunov Theory
•
Lyapunov Theory
•
Lyapunov Theory
Lyapunov Theory
Lyapunov Theory
• Theorem: Lyapunov’s stability theorem for time-invariant,
time-varying and linear systems.
Lyapunov Theory
Designing MRAS using Lyapunov Theory
•
Designing MRAS using Lyapunov Theory
•
Designing MRAS using Lyapunov Theory
•
Designing MRAS using Lyapunov Theory
Designing MRAS using Lyapunov Theory
• Ty the use of Theorem 5.4, we determine
• The adaptation rule similar to the MIT rule given by (5.9), but the sensitivity
derivatives are replaced by other signals.
Designing MRAS using Lyapunov Theory
Designing MRAS using Lyapunov Theory
•
Designing MRAS using Lyapunov Theory
Bounden Input, Bounded Output Stability
• Systems can be described from two points of view: the internal or state space
view or the external our input-output view.
• The state space approach is based on a detailed description of the inner
structure of the system.
• In the input-output approach, a system is considered to be a black box that
transforms inputs to outputs.
Bounden Input, Bounded Output Stability
•
Bounden Input, Bounded Output Stability
•
Applications to Adaptive Control
•
Applications to Adaptive Control
Applications to Adaptive Control
Applications to Adaptive Control
•
Applications to Adaptive Control
•
Applications to Adaptive Control
• For a stable polynomial A(s);
Applications to Adaptive Control
Applications to Adaptive Control
Applications to Adaptive Control
• A second order MRAS example;
Nonlinear Systems
• Feedback Linearization
Nonlinear Systems
• Cont. to example
Nonlinear Systems
• Backstepping
Nonlinear Systems
• Cont. to Backstepping
