ECE 781 - Adaptive Control
Instructor
Professor
Daniel
Miller
Office:
EIT-3116
Phone:
(519)
888-4567
extension
35215
e-mail:
miller@uwaterloo.ca
Outline
Adaptive control is an approach used to deal with the unavoidable problem of plant uncertainty. Rather than providing a fixed linear time-invariant controller, this approach yields a controller whose parameters change with time. This controller typically consists of a linear time-invariant compensator together with a tuning mechanism which adjusts the controller gains; the control objectives are stabilization and tracking.
The course will be centered on an identifier based approach in the discrete-time setting. Here one chooses a model for the plant, whose parameters are unknown, and the plant parameters are recursively estimated; controller gains are computed assuming that the present estimate is correct. We first study algorithms to carry out parameter estimation, we then look at various control laws, and finally these are combined to yield an adaptive controller.
Prerequisites
Knowledge of linear systems.
Text
I will be distributing course notes.
References
- "Adaptive Filtering Prediction and Control" by Goodwin and Sin. (In library on one-day loan: QA402.G658 1984)
- "Linear Systems" by Kailath
Schedule
Tuesday 2:30pm-03:50pm and Thursday 10:00am-11:20am in EIT3141.
Marking Scheme with the Typical Weights
- assignments (35%)
- final exam (65%)
Course Contents
- Introduction to Adaptive Control
-
Mathematical
Preliminaries
- signals
- mathematical models
-
Parameter
Estimation
- projection algorithm
- least-squares algorithm
- parameter convergence
- estimation with bounded noise
- constrained parameter estimation
-
Control
of
LTI
Systems
- internal stability
- one step-ahead control
- model reference control
- pole placement
-
Classical
Adaptive
Control
- one step-ahead adaptive control
- model reference adaptive control
- pole assignment adaptive control
-
Recent
Results
on
Adaptive
Control
With
Linear-Like
Behaviour
- one step-ahead adaptive control
- pole assignment adaptive control
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