Transcript Adaptive Control Theory Professor Ming-Shaung Ju Dept. of Mechanical Engineering

Adaptive Control Theory
Professor Ming-Shaung Ju
Dept. of Mechanical Engineering
National Cheng Kung University
[email protected]
x62163
Goals

To introduce basic concepts and
fundamental principles of adaptive control
systems

To familiar with analysis and design
procedures for adaptive systems

To gain experience on applying adaptive
control theory to solve practical problem
Text: Gang Tao, Adaptive Control Design and
Analysis, Wieley-Interscience, USA, 2003
References:
1.
K.J. Astrom & B. Wittenmark, Adaptive Control,
Addison-Wesley Co., 2nd ed. 1995.
2.
Y.D. Landau, Adaptive Control - The Model
Reference Approach, Marcel Dekker, 1979.
3.
G.C. Goodwin & K.S. Sin, Adaptive Filtering
Prediction and Control, 1984.
4.
C.J. Harris & S.A. Billings, Self-Tuning and
Adaptive Control: Theory and Applications, 1981.
Outline
1. Introduction
adaptive control system prototype, simple adaptive
control system, examples of adaptive systems
2. Review of System Theory
Dynamic system models, system characterizations,
signal measures, Lyapunov Stability, Input-output
stability, signal convergence lemma
3. Adaptive Parameter Estimation
A parameterized system model, linear parametric
model, normalized gradient algorithm, normalized
least-squares algorithm, parameter convergence,
discrete-time algorithm
Outline (cont’d)
4. Adaptive State Feedback Control
Design for state tracking, design for output tracking,
disturbance rejection, parameterization of state
feedback
5. Continuous-Time Model Reference Control (MRAC)
Control system structure, model reference control,
adaptive control, robustness of MRAC, robust MRAC
6. Indirect Adaptive Control
Model reference designs, pole-placement design,
discrete-time adaptive control systems
7. Conclusion
Grading




Homework
20%
Midterm Exam. 30%
Final Exam.
30%
Term Project 20%