- 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
- Lecture 60% 60%
- Discussion 35% 35%
- Video/Music Appreciation 5% 5%
Course outline (2019)
- Introduction to adaptive systems and adaptive control
- Basic concepts and structure of adaptive systems
- Real-Time parameter Estimation
- Least Squares and regression model
- Estimating Parameters in Dynamical Systems
- Experimental conditions
- Simulations of Recursive Estimators
- Prior Information
- Self-Tuning Regulators
- Structure of Self-Tuning Regulator
- Pole-Placement Design
- Indirect Self-Tuning Regulators
- Continuous-time self-tuner
- Direct Self-Tuning Regulators
- Disturbances with known characteristics
- Model-Reference Adaptive System
- The structure of Model-Reference Adaptive Systems
- The Gradient Approach (MIT rule)
- MRAS based on Lyapunov Stability and
- Continuous-time MRAS
- Discrete-time MRAS
- K.J. Åström and B. Wittenmark, Adaptive Control, Addison-Wesley, 2nd ed., 1995.
- 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.
- 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.
- I.D. Landau, R. Lozano, and M. M’Saad, Adaptive Control, Springer Verlag, London, 1998.
- K.S. Narendra & A.M. Annaswamy, Stable Adaptive Systems, Prentice-Hall, 1989.
- P.E. Wellstead & M.B. Zarrop, Self-Tuning Systems: Control and Signal Processing, J. Wiley & Sons, Chichester, England, 1991.
- G.C. Goodwin & K.S. Sin, Adaptive Filtering, Prediction, and Control, Prentice-Hall, 1984.
- P. Ioannou & B. Fidan, Adaptive Control Tutorial, SIAM, Philadelpia, PA, 2006.
- L. Ljung, System identification – Theory for the User, 2nd ed., Prentice hall PTR, 1999.
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).