Adaptive and Robust Control Systems

Data is displayed for the academic year: 2024./2025.

Lecturers

Prof.
Željko Ban
PhD
Assoc. Prof.
Tamara Petrović
PhD

Course Description

Introduction to control of time varying systems. Examples of time varying systems. Difference between adaptive and robust control. Adaptive control structures (gain scheduling, with the reference model (MRAS). Self-tuning regulator. Recursive least squares method and extended recursive least squares method in parameter identification. Stability, convergence and robustness. Design of STR by pole/zero placement. Stochastic adaptive control: minimum variance (MV). Introduction to robust control. Uncertainty classes. Structured and unstructured uncertainties. Small gain theorem. Robust stability analysis. Kharitonov s theorem.

Prerequisites

Basic knowledge of control systems (content of the course Automatic control (https://www.fer.unizg.hr/en/course/autcon)).

Study Programmes

University graduate
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Learning Outcomes

  1. Identify systems suitable for the application of adaptive control
  2. List methods for controlling systems with variable parameters
  3. Distinguish processes suitable for the application of MRAS and self-tuning regulator
  4. Apply methods of adaptive control model reference
  5. Apply a recursive method of identification
  6. Apply the pole placement synthesis method
  7. Identify the types of parameters uncertainty
  8. Analyze the robust stability using the small gain theorem and the Kharitonov theorem

Forms of Teaching

Lectures

Two hours of lectures per week.

Laboratory

Design of different adaptive controllers.

Week by Week Schedule

  1. Adaptive and robust control definition and system classification
  2. Gain scheduling and extremal control
  3. Model reference adaptive control with parameter adaptation, Stability of modified MRAC with parameter adaptation
  4. Model reference adaptive control with signal adaptation
  5. Model reference based sliding mode control
  6. Model parameter identification, Pole placement based sef tuning adaptive control
  7. Model parameter identification, Pole placement based sef tuning adaptive control
  8. Midterm exam
  9. Minimum variance adaptive control
  10. LQG adaptive control
  11. Sensitivity theory
  12. Uncertainty modeling, Robust stability analysis
  13. Small gain theorem
  14. H-infinity control
  15. Final exam

Literature

(.), K.J. Astrom; B. Wittenmark (2008.), Adaptive Control, Dover Publication,
(.), Z. Vukić (2000.), A Tutorial on Adaptive Control: The Self-tuning Approach, IEEE Conference SoutheastCon,
(.), E. Wellstead; M. P. Zarrop (1991.), Self-tuning Systems - Control and Signal Processing, John Wiley & Sons.,
(.), S. Sastry; M. Bodson (1989.), Adaptive Control: Stability, Convergence, Robustness, Prentice Hall Inc.,

General

ID 222435
  Summer semester
5 ECTS
L1 English Level
L1 e-Learning
30 Lectures
0 Seminar
0 Exercises
4 Laboratory exercises
0 Project laboratory
0 Physical education excercises

Grading System

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