NATIONAL CHENG KUNG UNIVERSITY

ADAPTIVE CONTROL
HOMEWORK 2

Instructor:

Teh, Lu Liao

Student:

Dinh Hoai Nam

Student ID:

P98017010

Problem 1
Determine whether on not each the following function is : i) locally position definite; ii0 position definite; iii)
decrescent and iv) radially unbounded
a.

)
(

( )

( )

V(t,x) is decrescent and radially unbounded
b.

( )

( )

( )

( )

V(t,x) is locally position definite function and decrescent and radially unbounded
(
(

c.

)
)

( )

( )

V(t,x) is position definite function and radially unbounded

Problem 2
Analyze the stability of the following systems

a.

(
(
(

)
)
)

( )

(
)
: negative definite
)

(
)

( )
(
) (
)
( )
V(t,x) P.D.F and decrescent
Systems is globally uniformly asymptotically stable

b.

(
(
(

)
)
(

) negative definite

( )

( )

V(t,x) P.D.F and decrescent

Systems is globally uniformly asymptotically stable

c.

)
(

) negative definite
( )
( )
V(t,x) P.D.F
Systems is asymptotically stable

Problem 3
( )

Have unknow system

a.
b.
c.
d.

Design an adaptive identifier with gradient algorithm for the unknown system
Design an adaptive identifier with least-square algorithm for the unknown system
Simulink both gradient and least-square for i) u(t)=1; ii) u(t)=sint(t) and plot ( )
Comment on the Simulink result

Solve
( )
(

Choose

( )
) ( )

( ) =>

) ( )

(
( )

( )

( )

( )
( )

( )

, system

( )

( )

( )

][

( )
]
( )

( )

( )

( )
]
( )

( )
]
( )

u(t)

*
y(t)

1
s2
1
s 1

1
s 1

-1

( )

Identifier:
( )

Output error:

( )

y(t)

[ ][

( )

( )

( ))

( )

( )
]
( )
( ) ( )

a. Lagradient algorithm
( )

( )

( ))

( ( )

( )

Design ( ) such that J min

( )

( )

( ( )

( )) ( ) ( )]

( ) ( )]
( ) ( )
( )

( ) => ( )

( )

Parameter error: ( )

( ))

[ ( ( )

( ) ( )

Define function V(t) as

( ( ) )
(

)
( )

( )
( )

uniformly stable
( )
( )
Because

( )
( )
( )

Therefore

( )

( )
( )

( ( ) )
( )

( )

( )

( )

( )

( ) ( )
(
(
(
[
(
[

)
]
)
)
]
)

(
(
(
[
(
[

)
]
)
)
]
)
(1)

( ) ( )

( )

( )

( )

( )

( )

( ) ( ) ( )

( )

( )

(2)

( )

From (1) and (2) :

Parameter convergence
( )

( ) ( )

If

( ) ( )

( )

( )

( ) ( )

( ) ( )

such that
(

( )

( )

): persistant excitation

( )

b. Least square algorithm

( )
( )

( )
( )

( )

( )
( )

( )

( )

( ) ( )

( ) ( ) ( )

derivative both side

( )

( )

Therefore ( )

( ) ( )

( )

( ) ( ) ( )

Because ( )

( ) ( ) ( )

( )

( )

( ) ( ) ( )

( ) ( )

( ) ( )

( ) ( )+

( ) ( )

( ) ( )

| ( )

( )

( ) ( )

( )

Online

( ))

Define

( ) ( )

( )

( )
( ) ( )

( ) ( ) ( )

( ) ( ) ( )

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

( ) ( ) ( )

( )[ ( )

( )] ( )

( ) ( ) ( )

Define a function V(t) as

( ))( ( ) )

(
(

( )

(
( ) ( )

( )
( )

( ) ( )
( ) ( )

( )( ( ) )
( )

( ) ( )

( )

Where ( ( )

( ) ( ) ( )

( )

( ) ( ))

System uniformly stable

( )
Because (
( )

( )
)

( )

( )
( )

Therefore ( )
( ) ( )
( )

=>

( )

( )

( )

( )

( )

( )

( ) ( )
( ) ( ) ( ) ( )

( )

( )

( )
( ) ( )

(2)

( )

From (1) and (2) :by Barbalats Lemma

Identifier
u(t)

y(t)

1
s2
1
s 1

1
s 1

W1(t)

W2(t)

2(t)

1(t )

e0(t)

yi(t)

c. Simulink for gradient algorithms

i). ( )

( )

]
theta1
To Workspace
error
To Workspace2

theta1

theta2
To Workspace1

error

u
1

s+2

Constant

e0
w2

Transfer Fcn

w1

Transfer Fcn1

1
s+1

Product

Transfer Fcn2

theta2

Adaptation mechanism

s+1

Product1

yi

The output error converge to zero

theta2

theta1

theta

0.25

0.2

0.15

0.1

0.05

-0.05

-0.1

2000

4000

6000

8000

10000

12000

The value of 1 converge to

The value of 2 converge to

*1
0.84

0.55

0.82
0.5

0.8
0.45

0.78

0.4

0.76
0.74

0.35

0.72
0.3

0.7
0.25

0.68
0.2

0.66
0.64
0

=[

2000

2]=[

ii). ( )

4000

6000

8000

10000

12000

2000

4000

6000

8000

0.1745 0.6510]
( )

( )

]
theta1
To Workspace
error
To Workspace2

theta1

theta2
To Workspace1

error

u
1

s+2

Sine Wave

e0

Transfer Fcn2

s+1

Product

Product1

yi

0.3

0.2

0.1

-0.1

-0.2

-0.3

2000

4000

6000

8000

theta2

Adaptation mechanism

s+1

The output error converge to zero

theta1

w2

Transfer Fcn

w1

Transfer Fcn1

theta2

10000

12000

theta

10000

12000

*2

The value of 1 converge to

*1

The value of 2 converge to

*2

0.8005
0.9
0.85

0.8

0.8

0.7995

0.75
0.7

0.799
0.65
0.6

0.7985

0.55
0.5

0.798
0

2000

4000

6000

Final Result: =[

8000

10000

12000

2]=[

2000

4000

6000

8000

10000

12000

0.7980]

0.8521

b. Simulink for Least-square alorithms

( )

i). ( )

]
theta1
To Workspace
error
To Workspace1

theta2
To Workspace2

error
1

ei

s+2

Constant
1

Transfer Fcn1

Transfer Fcn2

s+1

theta1

w2

Transfer Fcn

w1

1
s+1

theta2

theta

Adaptation mechanism

Product
Product1

y_hat

The output error converge to zero

LMS
0.04

0.03

0.02

0.01

-0.01

-0.02

-0.03

2000

4000

6000

8000

10000

12000

The value of 1 converge to

*1

The value of 2 converge to

*2

0.9

0.85

0.8
0.8

0.7
0.75

0.6
0.5

0.7

0.4
0.65

0.3
0.2

0.6

0.1
0.55

0
0.5

2000

4000

Final Result: =[
ii). ( )

6000

( )

8000

2]=[

10000

-0.1

12000

2000

4000

6000

8000

10000

-0.0541]

0.5000

( )

]
theta1
To Workspace
error
To Workspace1

theta2
To Workspace2

error
1

ei

s+2
Sine Wave

Transfer Fcn1

Transfer Fcn2

s+1

theta1

w2

Transfer Fcn

w1

1
s+1

theta

theta2

Adaptation mechanism

Product
Product1

y_hat

The output error converge to zero

LMS
0.25
0.2
0.15
0.1
0.05
0
-0.05
-0.1
-0.15

The value of 1 converge to

*1

2000

4000

6000

8000

10000

12000

The value of 2 converge to

*2

12000

0.95

0.8

0.9

0.6

0.85

0.4

0.8

0.2

0.75

0.7

-0.2

0.65

-0.4

0.6

-0.6

0.55

-0.8

0.5

2000

4000

6000

Final Result: =[

8000

2]=[

10000

-1

12000

0.9939

2000

4000

6000

8000

10000

12000

-0.9204 ]

d. Conclusion: Only square wave input can make the theta_hat converge to theta_star
Problem 4
a.

( )

( )
( )

Divide both side by x(t)

( )
( )

Integrate both sides with repect to t:

( )

( )

( ( ))

Evaluate the integrals

( )
( )

b.

( )

( )

Differential equation solution

( )

Divide both side by x(t)

( )

( )

( )

( )

( )

c.

( )
( )
( )
( )

( )

))
( )

( )

( )

( )

( ( )

( (

( )

( )

( )

d.

( ( ))

( )

( )

( )
( )

( )
( )(

If t>0
If t is real
( )

( )

( )

( )

( )

( )
( )

( )

( )

( )(

( )

) [

( ( )

]))