ADAPTIVE CONTROL

Presented by
HARIKRISHNA SATISH.T
Roll no:000910802023
 ADAPTIVE CONTROLLER
An adaptive controller is a controller with
adjustable parameters and mechanism for adjusting
the parameters.
BLOCK DIAGRAM OF ADAPTIVE CONTROL SYSTEM
 THE ADAPTIVE CONTROL PROBLEM

The construction of the adaptive controller

contains the following steps
• Characterize the desired behavior of the
closed loop system.
• Determine the suitable control law with
adjustable parameters.
• Find the mechanism for adjusting the
parameters.
• Implement the control law.
 ADAPTIVE SCHEMES

There are four different schemes we follow

while constructing an adaptive control system.

• Gain scheduling.
• Model reference adaptive control.
• Self tuning regulators.
• Dual control.
 MODEL REFERENCE ADAPTIVE CONTROL
ymodel
Model

Controller Parameters Adjustment

Mechanism

uc
u yplant
Controller Plant

• Design controller to drive plant response to model ideal

response (error = yplant-ymodel => 0)
• Designer chooses: reference model, controller structure, and
tuning gains for adjustment mechanism.
• Basic methods used to design adjustment mechanism are
1.MIT Rule 2.Lyapunov rule
 Adaptation of feed forward gain
• Tracking error: e  y plant  ymodel
• Form cost function: 1 2
J ( )  e ( )
2
d J e
• Update rule:    e
dt  
– Change in θ is proportional to negative gradient of J
 MIT Rule
Y ( s)
• For system  kG ( s) where k is unknown.
U ( s)
Y ( s)
• Goal: Make it look like  koG ( s)
U c (s)

using reference model Gm (s).  koG(s)

 MIT Rule
• Choose cost function:
1 2 d e
J ( )  e ( ) 
  e
2 dt 
• Write equation for error:
e  y  ym  kGU  GmU c  kGU c  koG U c
• Calculate sensitivity derivative:
e k
 kGU c  ym
 ko
• Apply MIT rule:
d k
   ' ym e   ym e
dt ko
 MIT Rule
• Adaptation feedforward gain
Reference Model

ymodel
Gm ( s )  koG ( s )

Adjustment Mechanism
-
θ 
Π
s +
Plant

uc u yplant
Π G p (s)  k G (s)
 MRAC Example
dy
Process Model :  -ay  kuc
dt
dym
Reference Model :  -aym  k mu
dt
Controller Equation : uc  θu
Equation of Error : e  y-ym
Desired Equilibrium : e0
de
Derivative of Error :  -ae  (kθ  k m )u
dt
 APPLYING MIT RULE
1 2
• Cost function : J ( ) 
2
e ( )

• Error equation : e  y plant  ymodel

• Updating rule : d   J  e e
dt  
 CONSTRUCTION OF BLOCK DIAGRAM
d
Reference Model
 ym e
dt
km ymodel
_____
sa
Adjustment Mechanism
-
θ 
Π +
s
Plant

uc u k yplant
Π _____
sa
 MIT Rule to Lyapunov Transition
1. Several Problems were encountered in the usage of the MIT rule.

2. Also, it was not possible in general to prove closed loop stability, or

convergence of the output error to zero.

3. A new way of redesigning adaptive systems using Lyapunov theory was

proposed by Parks.

4. This was based on Lyapunov stability theorems, so that stable and provably
convergent model reference schemes were obtained.

5. The update laws are similar to that of the MIT Rule, with the sensitivity
functions replaced by other functions.

6. The theme was to generate parameter adjustment rule which guarantee

stability
 LYAPUNOV STABILITY

• Lyapunov’s method states that a system has a

uniform asymptotically stable equilibrium x=0.if a
Lyapunov function V(x)exists that satisfies:
- V(x) > 0 for X≠0 (positive definite)

- V(X ) < 0 for x≠0 (negative definite)
- V(∞) ∞ for x∞
- V(0) =0.
Adaption of feed forward gain using
Lyapunov function
dy
Process Model :  -ay  ku c
dt
dy m
Reference Model :  -ay m  k m u
dt
Controller Equation : u c  θu
Equation of Error : e  y-y m
Desired Equilibriu m : e0
de
Derivative of Error :  -ae  (kθ  k m )u
dt
 γ 2 k km 2
Cont……
• Lyapunov  
Function: 2 2 k )
V e (θ 

• Derivative of Lyapunov Function:

dV k k d
 e(ae  k (  m )u )  k (  m )
dt k k dt
k d
2
 ae  k (  m )(  eu )
k dt
• Choosing the Adjustment Rule:
d dV
 ue   ae 2
dt dt
• Adaptation Law according Lyapunov Methods:
d
 ue
dt
 Adaptive Feed Forward gain
Block Diagram
Reference Model

ymodel
Gm ( s )  koG ( s )

Adjustment Mechanism
-
θ 
Π
s +
Plant

uc u yplant
Π G p (s)  k G (s)
 MRAC for first order closed loop
system
• Process Model: dy
 ay  buc
dt

• Reference Model: dy m
 ay m  b m u
dt

• Controller Structure: uc  θ 1 u  θ 2 y

• Error Equation: e  y  ym
• Desired Equilibrium: e0
de
• Derivative of Error:  a m e  (bθ 2  a  a m y)  (bθ 1  b m )u
dt
 conti……..
• Candidate for Lyapunov Function:
1 1 1
V(e , θ1 , θ 2 )  (e 2  (bθ 2  a  a m ) 2  (bθ1  b m ) 2 )
2 bγ bγ

• Derivative of Lyapunov Function:

dV de 1 dθ 1 dθ
 e  (bθ 2  a  a m ) 2  (bθ1  bm ) 1
dt dt γ dt γ dt
1 dθ 1 dθ
 -a m e 2  (bθ 2  a  a m )( 2  γye)  (bθ 1  bm )( 1  γue)
γ dt γ dt
• Adaptation Law:
dθ1 dθ 2
 γue  γye
dt dt
BLOCK DIAGRAM
ADVANTAGES OF USING LYAPUNOV FUNCTION

• The Analysis of system equations is difficult in

M.I.T rule. where as in Lyapunov method is
easy.
• M.I.T rule does not guarantee error
convergence or stability
• Lyapunov Adaptive laws gives guaranteed
stability.(i.e. error (e)=0).
 References

1. Karl j.Astrom,Bjorn Wittenmark;second edition ,1995.”adaptive

control”.pearson education,london.
2. Hans Butler ;1992.”Model reference adaptive control” prentice hall
international ltd.
3. Petros A. Ioannou,Jing Sun;1995” Robust adaptive control”,Prentice
Hall ,englewood cliffs,NJ .