Scribd
Upload
81 views22 pages

CH 0 Introduction

This document provides an overview of an adaptive control course. It introduces adaptive control, discusses why it is used, and outlines the course. The course will cover real-time parameter estimation, deterministic and stochastic self-tuning controllers, model reference adaptive systems, and selected adaptive control topics. Assignments will count for 30% and a final exam will count for 70% of the grading.

Uploaded by

spark بريق
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
81 views22 pages

CH 0 Introduction

This document provides an overview of an adaptive control course. It introduces adaptive control, discusses why it is used, and outlines the course. The course will cover real-time parameter estimation, deterministic and stochastic self-tuning controllers, model reference adaptive systems, and selected adaptive control topics. Assignments will count for 30% and a final exam will count for 70% of the grading.

Uploaded by

spark بريق
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
You are on page 1/ 22

Adaptive Control

Prof. Abdel-Latif Elshafei


Electric Power Engineering Department
Cairo University

EPM 644: Introduction A. L. Elshafei 1


Literature

• Textbook:
– Adaptive Control - K. Astrom and B. Wittenmark – Dover, 2008.
– Adaptive Control Tutorial – P. Ioannou and B. Fidan, SIAM, 2006
• References:
– Model Predictive Control System Design and Implementation
Using MATLAB – L. Wang – Springer, 2009.
– Nonlinear and Adaptive Control Design – Krstic ,
Kanellakopoulas, and Kokotovic - John Wiley, 1995.
– L1 Adaptive Control Theory: Guaranteed Robustness with Fast
Adaptation - N. Hovakimyan and C. Cao, SIAM, 2010.

EPM 644: Introduction A. L. Elshafei 2


Course Information
• Instructor e-mail:
[email protected]

• Lecture notes and assignments are on


Blackboard.

• Grading: 30% assignments


70% final exam.
EPM 644: Introduction A. L. Elshafei 3
Course on Blackboard

EPM 644: Introduction A. L. Elshafei 4


What is adaptive control?

According to the Webster’s dictionary, to


adapt means:
• to adjust oneself to particular conditions
• to bring oneself in harmony with a
particular environment
• to bring one’s acts, behavior in harmony
with a particular environment

EPM 644: Introduction A. L. Elshafei 5


What is adaptive control?

According to the Webster’s dictionary,


adaptation means:
• adjustment to environmental conditions
• alteration or change in form or structure to
better fit the environment

EPM 644: Introduction A. L. Elshafei 6


When is a Controller Adaptive?

According to G. Zames:
• A non-adaptive controller is based solely
on a-priori information
• An adaptive controller is based on a
posteriori information as well

EPM 644: Introduction A. L. Elshafei 7


A Narrow Definition of Adaptive Control

• An adaptive controller is a fixed-structure controller


with adjustable parameters and a mechanism for
automatically adjusting those parameters

• In this sense, an adaptive controller is one way of


dealing with parametric uncertainty

• Adaptive control theory essentially deals with finding


parameter adjustment algorithms that guarantee global
stability and convergence

EPM 644: Introduction A. L. Elshafei 8


Why Use Adaptive Control?

Superiority to Linear Control

Let 𝑥ሶ = 𝑎𝑥 + 𝑢, 𝑥 0 = 𝑥0 where a is a system parameter.

• If 𝑎 is known, 𝑢 = −𝑘𝑥 where 𝑘 > 𝑎 will stabilize the system.

• If 𝑎 is unknown but its upper bound 𝑎ത > 𝑎 is known, choosing 𝑘 > 𝑎ത will
enable the linear controller to stabilize the system.

• If 𝑎 and its upper bound are unknown, the linear controller is not enough in
case that 𝑎 > 𝑘 > 0.

• The adaptive controller 𝑢 = −𝑘𝑥 , 𝑘ሶ = 𝑥 2 can stabilize the system.

EPM 644: Introduction A. L. Elshafei 9


Why Use Adaptive Control?

Dealing with Unknown Disturbances

Let 𝑥ሶ = 𝑎𝑥 + 𝑢 + 𝑑, 𝑥 0 = 𝑥0 , and 𝑑 is an unknown bounded


disturbance 𝑑 < 𝑑.ҧ Required to stabilize the system and suppress the
effect of the disturbance.

• Assuming a linear controller 𝑢 = −𝑘𝑥, we can show that, at steady


𝑑ത
state, 𝑥 is bounded by .
The disturbance effect can be
𝑘−𝑎
suppressed by increasing 𝑘 but it leads to excessive control
actions.

• The adaptive control law 𝑢 = −𝑘𝑥 − 𝑑መ could be a remedy.

EPM 644: Introduction A. L. Elshafei 10


Why Use Adaptive Control?

• Control of systems with time-varying dynamics


• If dynamics change with operating conditions in a known,
predictable fashion, use gain scheduling
• If the use of a fixed controller cannot achieve a
satisfactory compromise between robustness and
performance, then and only then, should adaptive
control be used.
• Use the simplest technique that meets the
specifications

EPM 644: Introduction A. L. Elshafei 11


Judging the Severity of Process Variations

• Difficult to judge impact of process variations on closed-


loop behavior from open-loop time responses
• Significant changes in open-loop responses may have
little effect on closed-loop response
• Small changes in open-loop responses may have
significant effect on closed-loop response
• Effect depends on the desired closed-loop bandwidth
• Better to use frequency responses

EPM 644: Introduction A. L. Elshafei 12


Effect of Process Variations
• Consider the system given by
G(s) =1/(s + 1)(s + a)
• Open loop step responses • Closed-loop responses for unity feedback

EPM 644: Introduction A. L. Elshafei 13


Effect of Process Variations

• Open-loop Bode plot • Closed-loop Bode plot

EPM 644: Introduction A. L. Elshafei 14


Consider now the system
G(s) =400(1 − sT )/(s + 1)(s + 20)(1 + sT )

Open-loop response Closed-loop response

EPM 644: Introduction A. L. Elshafei 15


Development of Adaptive Control

• Mid 1950’s: Flight control systems (eventually solved by gain


scheduling)
• 1957: Bellman develops dynamic programming
• 1958: Kalman develops the self-optimizing controller
• 1960: Feldbaum develops the dual controller
• Mid 60’s-early 70’s: Model reference adaptive systems
• Late 60’s-early 70’s: System identification approach with recursive
least-squares
• Early 1980’s: Convergence and stability analysis
• Mid 1980’s: Robustness analysis
• 1990’s: Backstepping control and adaptive neuro-fuzzy systems
• 2000’s: L1 adaptive control

EPM 644: Introduction A. L. Elshafei 16


Gain Scheduling

• In many cases, process dynamics change with operating conditions


in a known fashion
• Flight control systems
• Compensation for production rate changes
• Controller parameters change in a predetermined fashion with the
operating conditions

EPM 644: Introduction A. L. Elshafei 17


Model Reference Adaptive Control

• Performance specifications given in terms of reference model

EPM 644: Introduction A. L. Elshafei 18


Self-Tuning Controller

• Model-based tuning consists of two operations:


– Model building via identification
– Controller design using the identified model
• Self-tuning control can be thought of as an automation of this
procedure when these two operations are performed on-line

EPM 644: Introduction A. L. Elshafei 19


Self-Tuning vs. Auto-Tuning

• Self-tuning
– Continuous updating of controller parameters
– Used for truly time-varying plants

• Auto-tuning
– Once controller parameters near convergence, adaptation is
stopped
– Used for time invariant or very slowly varying processes
– Used for periodic, usually on-demand tuning

EPM 644: Introduction A. L. Elshafei 20


Final motivation

EPM 644: Introduction A. L. Elshafei 21


Course outline

• Real time parameter estimation


• Deterministic self-tuning regulators
• Stochastic self-tuning controllers
• Model reference adaptive systems
• Selected topics in adaptive control

EPM 644: Introduction A. L. Elshafei 22

You might also like