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L3 PI Examples 2p

This document provides an overview of an adaptive control course, including: 1) Introduction to parametric models, parameter identification, model reference adaptive control, and adaptive pole placement control for nonlinear systems 2) Parameter estimation using the least squares method to choose parameters that minimize the sum of squared errors between measurements and model outputs 3) Regression models are used to relate measurements to unknown parameters estimated using least squares

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29 views14 pages

L3 PI Examples 2p

This document provides an overview of an adaptive control course, including: 1) Introduction to parametric models, parameter identification, model reference adaptive control, and adaptive pole placement control for nonlinear systems 2) Parameter estimation using the least squares method to choose parameters that minimize the sum of squared errors between measurements and model outputs 3) Regression models are used to relate measurements to unknown parameters estimated using least squares

Uploaded by

mobin
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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Course Overview

Introduction
Parametric Models
Parameter Identifications
Model Reference Adaptive Control
Adaptive Pole Placement Control
Adaptive Control for Non-linear Systems

2 Parameter Estimation
)(Least Squares
3

) 18(

)
(
.

)(Regression model



:
5

:
:

:

) (Residuals .

)(
6

:
:

:

7

:LS
.

)(
8

: W

LS :
RLS
9

RLS
10

:

:

:P0

P0 .

P0 .
Online
11

Covariance resetting
Periodic resetting
Parallel estimators

Forgetting factor


12

q

13

)(Exponential

RLS
14
RLS
15

.
.


16

)(Projection

)(LMS
RLS
17

)(FIR

RLS FIR
18

)(FIR
RLS )(2
19

RLS
20


.
RLS
21

RLS .

RLS .
: (Extended RLS) ELS

RLS
22
ELS
23


q ) e(t .

ELS
24
RLS
25

!Thank You

26

27

[1] K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd


Edition, Addison-Wesley, 1995.
[2] P. A. Ioannou and B. Fidan, Adaptive Control Tutorial, SIAM,
2006.

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