Adaptive and Robust Control Systems
Data is displayed for the academic year: 2024./2025.
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
- Identify systems suitable for the application of adaptive control
- List methods 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 Kharitonov theorem
Forms of Teaching
Lectures
Two hours of lectures per week.
LaboratoryDesign of different adaptive controllers.
Week by Week Schedule
- Adaptive and robust control definition and system classification
- Gain scheduling and extremal control
- Model reference adaptive control with parameter adaptation, Stability of modified MRAC with parameter adaptation
- Model reference adaptive control with signal adaptation
- Model reference based sliding mode control
- Model parameter identification, Pole placement based sef tuning adaptive control
- Model parameter identification, Pole placement based sef tuning adaptive control
- Midterm exam
- Minimum variance adaptive control
- LQG adaptive control
- Sensitivity theory
- Uncertainty modeling, Robust stability analysis
- Small gain theorem
- H-infinity control
- 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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