ADAPTIVE CONTROL - DEFINITION

An adaptive controller is a controller with adjustable

parameters and a mechanism for adjusting the parameters

Department for Automatic Control and Electronics

Faculty of Electrical Engineering
Sarajevo, December, 2013
University of Sarajevo
Adnan Tahirovic

ADAPTIVE CONTROL - DEFINITION

ADAPTIVE CONTROL - HISTORY

1960:
State Space
Stability Theory
Stochastic Control Theory
Dynamic Programming
Common Framework for lerning and adaptive control theory
System identification
1970:
Renaissance of adaptive control
(different estination schemes combined with various design methods)
1980:
Stability of adaptive systems with strong assumptions
Merging ideas of robust control and system identification
Robustness of adaptive control
Universal stability
1990:
Investigation of nonlinear systems
Adaptive control strong relations with ideas on learning

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

To design a robust controller, it is attempted to find a

controller such that the loop transfer function is large for
these frequencies at which there are large variations in the
process transfer function.

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

To judge the conseqences of process variations from

open-loop dynamics, it is better to use frequency responses
than time responses.

It is necessary to have some information about the

desired crossover frequency of the closed-loop system.

AdCo HOW A LINEAR CONTROLLER CAN DEAL

WITH VARIATIONS OF PROCESS DYNAMICS

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS solves a problem in which the performance
specifications are given in terms of a reference model.

MRAS was originally introduced for flight control

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)

MIT RULE:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)

ALTERNATIVE:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:

Perfect model following:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

Barbalats lemma

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory

ADAPTIVE SCHEMES GAIN SCHEDULING

ADAPTIVE SCHEMES GAIN SCHEDULING

GS can be regarded as a mapping from process

parameters to controller parameters.

GS can be implemented as a function or a table lookup.

ADAPTIVE SCHEMES
GAIN SCHEDULING
It was originally used to accomodate changes in process
gain only
It has a linear controller whose parameters are changed
as a function of operating conditions in a programmed way

GS based on measurements of operating conditions of

the process is often a good way to compansate for:
variations in process parameters or
known nonlinearities of the process

ADAPTIVE SCHEMES
GAIN SCHEDULING
The main problem is to find suitable scheduling variables
This is normaly done on the basis of knowledge of the
physics of a system
Ideally, there should be simple expressions for how the
controller parameters relate to the scheduling variables
In process control the production rate can often be
chosen as a scheduling variable, since time constants and
time delays are often inversely proportional to production
rate

ADAPTIVE SCHEMES
GAIN SCHEDULING
When scheduling variables have been determined, the
controller parameters are calculated at a number of
operating conditions by using some suitable design method
The contoller is thus tuned or calibrated for each
operating condition
Stability and performance of the system are typically
evaluated by simulation; particular attention is given to the
transition between different operating points

ADAPTIVE SCHEMES
GAIN SCHEDULING
Some ideas:
Linearization of nonlinear actuators
Gain scheduling based on measurements of
auxilary variables
Time scaling based on production rate

ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator

ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator

ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator

ADAPTIVE SCHEMES
GAIN SCHEDULING
GS based on measurement of auxiliary variables
TANK IN WHICH THE CROSS SECTION A VARIES
WITH HEIGHT h

ADAPTIVE SCHEMES
GAIN SCHEDULING
GS based on measurement of auxiliary variables
TANK IN WHICH THE CROSS SECTION A VARIES
WITH HEIGHT h

T ( s) =

()
s 2 + 2s + 2

ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL

q(t) = const

ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL

q(t) = const

ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL

ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL

q(t) = const