lOMoARcPSD|9667955

Lecture 03 - Local parametric optimization in MR control

Adaptive Control Systems (Binghamton University)

Scan to open on Studocu

Studocu is not sponsored or endorsed by any college or university

Downloaded by Hòa L?u ??c ([email protected])
 lOMoARcPSD|9667955

ECE 517 LECTURE 03

CONVERSION OF A MR SYSTEM DESIGN INTO DESIGN OF AN

EQUIVALENT NONLINEAR FEEDBACK SYSTEM
LINEAR FEEDBACK CONTROL SYSTEM: X’=(A-BF)X+BR
CONSIDER A MR IDENTIFIER:

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

LOCAL PARAMETRIC OPTIMIZATION

GRADIENT MINIMIZATION:

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

10

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

SIMULATION STUDY OF A MR PARAMETER IDENTIFIER USING

LOCAL PARAMETRIC OPTIMIZATION:
Parallel configuration:

Adjustable system:

~ ~ ~
b2 s 2  b1s  b0 ~ b2 s 2  b1s  b0
y ( s)  3  x( s) and y ( s)  3 ~ 2 ~  x( s )
s  a2 s 2  a1s  a0 s  a2 s  a1s  a~0

e(s)  y(s)  ~
y ( s)
~ ~ ~ ~ ~ ~
b2  b2 (e, t ), b1  b1 (e, t ), b0  b0 (e, t )
a~2  a~2 (e, t ), a~1  a~1 (e, t ), a~0  a~0 (e, t )

~ ~ ~ 2
~  b2 s 2  b1s  b0 
Q( s, t )  e( s)  [ y ( s)  y ( s)]   y ( s)  3 ~ 2 ~
2 2
 x( s )
 s  a2 s  a1s  a~0 

11

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

12

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

~
db2 Q( s, t ) ~ ~ Q( s, t )
 C2  ~ and b2 (e, t )  b2 (0)  C2   ~ dt
dt b2 b2
~
db1 Q( s, t ) ~ ~ Q( s, t )
 C1  ~ and b1 (e, t )  b1 (0)  C1   ~ dt
dt b1 b1
~
db0 Q( s, t ) ~ ~ Q( s, t )
 C0  ~ and b0 (e, t )  b0 (0)  C0   ~ dt
dt b0 b0

da~2 Q( s, t ) Q( s, t )

  D2  ~ and a~2 (e, t )  a~2 (0)  D2   dt
dt a2 a~2
da~1 Q( s, t ) Q( s, t )
  D1  ~ and a~1 (e, t )  a~1 (0)  D1   dt
dt a1 a~1
da~0 Q( s, t ) Q( s, t )
  D0  ~ and a~0 (e, t )  a~0 (0)  D0   dt
dt a 0 a~ 0

13

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

14

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

Do not be surprised: although the gradient application results in the decrease of the criterion
value, the parameter estimates do not converge to their “true” values. Successful parameter
estimation requires that the input signal, driving the system, satisfy additional special
requirements.
Also, running the simulation for longer time may result in the divergence of the minimization
procedure: the stability consideration cannot be incorporated in gradient minimization

15

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

16

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

17

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

18

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

EE 517 Homework Assignment #2

1. a) List factors that necessitate the use of adaptive control

b) Give a descriptive example of a model reference control system that maintains the
required performance despite varying operational conditions
c) Give a descriptive example of a control system that maintains the required
performance by utilizing the principle of feedforward control

2. Provide the description and matrix diagram of a model reference control system with
signal adaptation and model reference state estimator that has a series-parallel configuration
and parametric adaptation. Describe the operation of this system. Explain how the negative
feedback principle is applied in this system.

3. Provide the description and matrix diagram of a model reference control system with
parametric adaptation and model reference state estimator that has a parallel configuration
and signal adaptation. Describe the operation of this system. Explain how the duality in
model reference control works in this system.

4. A model reference system identifier/parameter estimator is utilized to obtain a

 1s   0
mathematical model of a physical process in the form GS ( s) 
s  1s   0
2

Derive the adaptation mechanism utilizing the local parametric adaptation for the solution of
this problem. Develop a simulation setup showing the operation of this system in the
Simulink or Vissim environment and investigate the system operation

19

Downloaded by Hòa L?u ??c ([email protected])

 lOMoARcPSD|9667955

ECE 517 LECTURE 03

EE 517 Homework Assignment #3

A control system has to be designed for a first order controlled plant, transfer function
b
G(s)  , with poorly known parameters.
sa
The design specifications call for the settling time of 1 sec and the overshoot of the
system step response of approximately zero %
Utilize local parametric optimization of the model reference approach to design a control
system that would comply with the design specifications in spite of poorly known parameters
of the controlled plant.

a) Define and document the reference model.

b) Establish the mathematical description and schematic of the entire adaptive control
system

c) Utilize the local parametric optimization approach (MIT rule) to develop an adaptation
mechanism capable of adjusting parameters of the feedback controller and the input
filter of the system. Provide all derivations
.016
d) Assume the transfer function of the “true plant” to be G TRUE (s)  .
s  .029
Implement the adaptive control system using simulation software.

e) Drive the system by a square wave-type reference signal with period of 3 sec. Choose
the gains of the adaptation mechanism to demonstrate the gradual arrival of the system
to the desired operation. Demonstrate the convergence of the system error and
adjustable parameters of the controller.

f) Provide the plot of the control effort. Note that in real life, the feasibility of adaptive
control is limited by the allowable magnitude of the control effort. To test this reality,
register the maximum magnitude of the control effort, then limit the magnitude of the
control effort to 80% and 60% of the maximum value and repeat simulation runs.
Document the results.

20

Downloaded by Hòa L?u ??c ([email protected])