Adaptive and Robust Control
Students will learn how to control time varying systems. Students will acquire the basic concepts of adaptive and robust control.
- identify systems suitable for the application of adaptive management
- define a suitable method for controlling systems with variable parameters
- distinguish processes suitable for the application of MRAS and self tuning regulator
- apply methods of adaptive control model reference
- apply a recursive method of identification
- apply the pole placement synthesis method
- identify the types of parameters uncertainty
- analyze the robust stability using the small gain theorem and the theorem Kharitonova
Forms of Teaching
Lectures 2 hours per weekExams
Home works, Midterexam, Final exam - written form, Oral final exam.Consultations
After the lectures.Other
|Type||Threshold||Percent of Grade||Threshold||Percent of Grade|
|Homeworks||0 %||30 %||0 %||10 %|
|Mid Term Exam: Written||0 %||25 %||0 %|
|Final Exam: Written||0 %||25 %|
|Final Exam: Oral||20 %|
|Exam: Written||0 %||40 %|
|Exam: Oral||50 %|
Week by Week Schedule
- Introductory course considerations: overview of teaching units, the organization of the teaching and examination. Review of methods of adaptive management. Examples.
- Gain scheduling adaptive control.
- Model reference adaptive control with parameter adatpation.
- Model reference adaptive control with signal adatpation.
- Sliding mode adaptive control.
- Methods of self tuning adaptive control. Identification of the model.
- Identification of parameters (dynamics, persistence, minimum square, bias)
- Midterm exam.
- The minimum variance adaptive control.
- LQG adaptive control.
- Self tuning adaptive control based on pole placement method. The distinction between the application of adaptive and robust control.
- Robust Control. Structured and unstructured uncertainties.
- Application of the small gain theorem.
- Application of the Kharitonov theorem.
- Final exam.