Adaptive control

適應控制

Course description

To introduce the basic theory and overview of adaptive systems and their applications to control systems.

介紹當前各種適應控制理論及其應用。

Course Objectives

  • Understand basic theories of adaptive control
  • Be able to analyse an adaptive control system
  • Be able to implement an adaptive control strategy
  • Distil a published journal article on adaptive systems

Instructor

 Torbjörn E. M. Nordling, Ph.D.

Teaching Strategies

How this course is going to be taught

  • Lecture 60% 60%
  • Discussion 35% 35%
  • Video/Music Appreciation 5% 5%

Course material

K.J. Åström and B. Wittenmark, Adaptive Control, Addison-Wesley, 2nd ed., 1995.

Course outline (2019)
    1. Introduction to adaptive systems and adaptive control
      1. Basic concepts and structure of adaptive systems
    2. Real-Time parameter Estimation
      1. Least Squares and regression model
      2. Estimating Parameters in Dynamical Systems
      3. Experimental conditions
      4. Simulations of Recursive Estimators
      5. Prior Information
    3. Self-Tuning Regulators
      1. Structure of Self-Tuning Regulator
      2. Pole-Placement Design
      3. Indirect Self-Tuning Regulators
      4. Continuous-time self-tuner
      5. Direct Self-Tuning Regulators
      6. Disturbances with known characteristics
    4. Model-Reference Adaptive System
      1. The structure of Model-Reference Adaptive Systems
      2. The Gradient Approach (MIT rule)
      3. MRAS based on Lyapunov Stability and Hyper stability theory
      4. Continuous-time MRAS
      5. Discrete-time MRAS
References
  1. K.J. Åström and B. Wittenmark, Adaptive Control, Addison-Wesley, 2nd ed., 1995.
  2. P.A. Ioannou & J. Sun, Robust Adaptive Control, Prentice Hall, Upper Saddle River, NJ, 1996. The book is available (for free) in PDF form through the web page: http://www-bcf.usc.edu/~ioannou/RobustAdaptiveBook95pdf/Robust_Adaptive_Control.pdf.
  3. S. Sastry & M. Bodson, Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall, 1989. The book is available (for free) in PDF form through the web page: http://www.ece.utah.edu/~bodson/acscr. Also republished by Dover Publications, 2011.
  4.  I.D. Landau, R. Lozano, and M. M’Saad, Adaptive Control, Springer Verlag, London, 1998.
  5.  K.S. Narendra & A.M. Annaswamy, Stable Adaptive Systems, Prentice-Hall, 1989.
  6.  P.E. Wellstead & M.B. Zarrop, Self-Tuning Systems: Control and Signal Processing, J. Wiley & Sons, Chichester, England, 1991.
  7. G.C. Goodwin & K.S. Sin, Adaptive Filtering, Prediction, and Control, Prentice-Hall, 1984.
  8.  P. Ioannou & B. Fidan, Adaptive Control Tutorial, SIAM, Philadelpia, PA, 2006.
  9.  L. Ljung, System identification – Theory for the User, 2nd ed., Prentice hall PTR, 1999.

Course policy

Assignments 40% (counted based on assignment solutions committed in the GIT repository as .tex, .m, or .py files). Individual oral presentation 40% (each student need to give a presentation that includes the best parts of the assignment solutions and presentations made by all students in his/her discussion group). Group project with written report 20% (each group is responsible for making a write up containing the best distillation of their individual assignment solutions).

Course website