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Introduction To Adaptive Control: Instructor: Dr. Muhammad Jawad Khan

This document outlines an introduction to adaptive control class presented by Dr. Muhammad Jawad Khan. The class will cover topics including closed-loop control systems, linear feedback control, parameter adaptive systems, identification methods, indirect and direct adaptive control schemes, model reference adaptive control, and applications of adaptive control. Students are assigned reading on state-space models, Bode plots, and differences between mathematical definitions from a reference book, and must implement an adaptive control scheme for a project.

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Omar Zeb Khan
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39 views48 pages

Introduction To Adaptive Control: Instructor: Dr. Muhammad Jawad Khan

This document outlines an introduction to adaptive control class presented by Dr. Muhammad Jawad Khan. The class will cover topics including closed-loop control systems, linear feedback control, parameter adaptive systems, identification methods, indirect and direct adaptive control schemes, model reference adaptive control, and applications of adaptive control. Students are assigned reading on state-space models, Bode plots, and differences between mathematical definitions from a reference book, and must implement an adaptive control scheme for a project.

Uploaded by

Omar Zeb Khan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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June 21, 2019

Introduction to Adaptive Control

Instructor: Dr. Muhammad Jawad Khan


Assistant Professor, RIME,
SMME, NUST.

RIME,
SMME, NUST
Outline

RIME,
SMME, NUST
Reference Book

• Adaptive Control
– By K. J. Astrom

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SMME, NUST
Grade distribution

• Final: 40%
• OHT: 30%
• Assignment: 5%
• Quiz: 10%
• Project: 15%

RIME,
SMME, NUST
What is a control system?

• A control system is an interconnection of many


components or foundation units in such a way
to produce a desired result.

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Defination
• A control system consists
of subsystems and
process(or plants)
assembled for the
purpose of controlling
the outputs of the
process.
• Mathematical Dynamics,
Analysis of Dynaimcs
Characteristics
• Advantages: Power
Amplification,
Remote Control,
Convenience of Input,
Compensation for
disturbances

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Examples

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• Mobile Robot : Environment Recognition
– Environment Recognition by Vision
– Recognizing Doors and Room Numbers
– Searching Target Room

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Closed-loop control

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Linear Feedback-2DoF

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Judging process variation from open-
loop data

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Contd…

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Another case

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Contd…

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Non-linear actuator

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Flow and speed variation

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Flight control

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Changing disturbances

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Assignment no.1
• Find the Transfer Function and Bode plots of the
previous examples Mathematically and verify
them using MATLAB codes. (Hint: Read chapter
1). Assume the missing parameters.

• What are the differences between theorems,


definitions, axioms, lemmas, corollaries,
propositions, and statements?

• Submission: 4:55 PM before next class. (No


extensions)

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Semantics

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Adaptive Control

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Brief History

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An adaptive control system

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Parameter adaptive systems

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Identification

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Types

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Indirect adaptive control

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Adaptive schemes

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Gain scheduling

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Contd…

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Model reference adaptive control

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MRAS

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Self-tuning regulators

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Contd…

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Dual control

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Adaptive control problem

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Applications

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Conclusions

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Reading assignment

• Study:
• 1. State-space models
• 2. Bode plots
• 3. Chapter 1 from the Reference book
• Differences between theorems, definitions, axioms,
lemmas, corollaries, propositions, and statements

• Discussion in the next class

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Regarding project

• Implement Adaptive control scheme on a


system of your choice.

• Marks distribution:
Report+Presentation+Demo

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Next class

• Basics of identification

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