Notes of Lecture Course in

Adaptive Control
for the 4th Class of Control Engineering in the Control and Systems Engineering Department at the University of Technology CCE-CN445

Prepared By: Dr. Mohammed Y. Hassan, Ph. D.

Adaptive Control

Syllabus Fourth Year-Control Eng. CCE-CN445 Theoretical: 3 Hr./ Week (Semester)

1. Introduction and General Aspects: What is Adaptive Control?

(4 Hrs)

Relationship between Non-Adaptive, robust and Adaptive Control. Performance objectives and design constraints for the control engineers.

2. Types of Adaptive Control strategies: Gain Scheduling Regulators Self-Tuning Regulators. Model Reference Adaptive Control. 3. Gain Scheduling Regulator: 4. Self Tuning Regulator: Pole-Assignment by output Feedback. 5. Model Reference Adaptive Control: 6. Practical aspects and Implementation: 7. Relation to other topics: Expert Systems. Neuro Controller. Fuzzy Controller. Genetic Auto-Tuners.

(2 Hrs)

(2 Hrs) (8 Hrs)

(6 Hrs) (2 Hrs) (6 Hrs)

Total: 30 Hrs

Adaptive Control

References:

1. Adaptive Control By: K. J. strm and B. Wittenmark. 2. Self Tuning Systems By: P. E. Wellstead and M. B. Zarrop.

Adaptive Control

ADAPTIVE CONTROL

1-Introduction 1.1-Definitions:
Adaptive controller: Is a controller that can modify its behavior in response to changes in the dynamics of the process and the disturbances.

Adaptive system: Is any physical system that has been designed with an adaptive view point.

1.2 Historical background:

In the early 1950, there was extensive research on adaptive control, in connection with the design of autopilots for high performance aircraft. Such aircraft operate over a wide range of speeds and altitudes. It was found that ordinary constant-gain, linear feedback control could work well in one operating condition, but that changed operating conditions led to difficulties. A more sophisticated regulator, which could work well over a wide range of operating conditions was therefore needed.

In the 1960s many contributions to control theory were important for the development of adaptive control. State space and stability theory were introduced. There were also important results in stochastic control theory. Dynamic programming introduced by Bellman, increased the understanding of

Adaptive Control adaptive processes. Fundamental contributions were also made by Tsypkin, who showed that many schemes for learning and adaptive control could be described in a common framework as recursive equations of a special type. There were also major developments in system identification and in parameter estimation.

In the late 1970s and early 1980s correct proofs for stability of adaptive systems appeared. Rapid and revolutionary progress in microelectronics has made it possible to implement adaptive regulators simply and cheaply. Vigorous development of the field is now taking place, both on universities and industry. Several commercial adaptive regulators based on different ideas are appearing on the market. A great number of industrial control loops are under adaptive control. These include a wide range of applications in aerospace, process control, ship steering, robotics and other industrial control systems.

To works with adaptive control one must have a background in conventional feedback control and also sampled data systems. The reason for this is that virtually all adaptive systems are implemented using digital computers.

However, adaptive control has links in many directions, some of which are illustrated in figure bellow:

Adaptive Control

Fig. Links with adaptive control.

There are strong ties to nonlinear system theory, because adaptive systems are inherently nonlinear.

1.3 Adaptation and tuning:

It is customary to separate the tuning and adaptation problems. In the tuning problem it is assumed that the process to be controlled has constant but unknown parameters; in the adaptation problem it is assumed that the parameters are changing. 6

Adaptive Control

Many issues are much easier to handle in the tuning problem. The convergence problem is to investigate where the parameters converge to their true values. The corresponding problem is much more difficult in the adaptive case, because true values are changing.

1.4 Direct and Indirect adaptive controllers: In general, the adaptive controllers can be divided into two algorithms; direct and indirect. In direct algorithms, the parameters are updated directly. If the controller parameters are obtained indirectly via a design procedure, we use the term indirect algorithms. Sometimes, it is possible to re-

parameterize the process model such that it is possible to use either a direct or indirect controller.

However, the indirect methods have sometimes been called explicit selftuning control, since the process parameters have been estimated. Direct updating of the regulator parameters has been called implicit self tuning control.

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2-Why adaptive control:

There are many reasons for adaptive control. The key factors are: a-Variations in process dynamics. Parameters may vary due to nonlinear actuators, changes in the operating conditions of the process, and nonsatisfactory disturbances acting on the process. b- Variations in the character of the disturbances. c- Engineering efficiency.

However, the most common regulators is a feedback controller with fixed parameters. Through feedback it is possible to decrease the sensitivity to parameter variations by increasing the loop gain of the system. The main drawbacks of high-gain controllers are the magnitude of the control signal and the problem of stability of the closed loop system. If there are bounds on the uncertainties of the process parameters, it is possible to design robust controllers by increasing the complexity of the controller. To use this approach, it is necessary to know the structure of the process fairly accurately and to have bounds on the variations of the parameters.

3- Adaptive schemes: There are three main adaptive schemes: a-Gain scheduling. b-Self-tuning regulator (STR). c-Model-reference adaptive control (MRAC).

Adaptive Control

a-Gain scheduling:
In many situations it is known how the dynamics of a process change with the operating conditions of the process. One source for the change in dynamics may be nonlinearities that are known. It is then possible to change the parameters of the controller by monitoring the operating conditions of the process. This idea is called gain scheduling. Its principle is to reduce the effects of parameter variations by changing the parameters of the regulator as function of auxiliary variables that correlate well with these changes in process dynamics. It is a nonlinear feedback controller of a special type. It has a linear regulator whose parameters are changed as a function of operating conditions in a programmed way. Gain scheduling was used in special cases: such as autopilots for highperformance air-craft.

The principle: It is sometimes possible to find auxiliary variable that correlate well with the changes in process dynamics. It is then to reduce the effects of parameter variations simply by changing the parameters of the regulator as functions of auxiliary variables as shown in figure below:

Adaptive Control Design of Gain Scheduling regulators: It is difficult to give general rules for designing gain scheduling regulators. The key question is to determine the variables that can be used as scheduling variables. It is clear that these auxiliary signals must reflect the operating conditions of the plant. The following general ideas can be useful: 1) 2) 3) 4) Linearization of nonlinear actuators. Gain scheduling based on measurements of auxiliary variables. Time scaling based on production rate. Nonlinear transformation.

a- Self-Tuning regulator:
Basic idea: In an adaptive system, it is assumed that the regulator parameters are adjusted all the time. This implies that the regulator parameters follow changes in process. It is difficult to analyze the convergence and stability properties of such systems. To simplify the problem it can assume that the process has constant but unknown parameters. When the process is known, the design procedure specifies a set of desired controller parameters. The adaptive controller should converge to these parameter values even when the process is known. A regulator with this property is called Self-Tuning, since it automatically tunes the controller to the desired performance. The Self- Tuning Regulator (STR) is based on the idea of separating the estimation of unknown parameters from the design of the controller. The basic idea is illustrated in figure bellow:

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Adaptive Control

Fig. Block Diagram of Self Tuning Regulator (STR)

In the block diagram, the design block represents an on-line solution to the design problem for a system with unknown parameters. This is called the underlying design problem. Examples of the design methods can be used are: a) b) c) d) Minimum variance. Linear quadratic (LQ). Pole placement. Model following.

The design method is chosen depending on the specifications of the closed loop systems. Different combinations of estimation methods lead to regulators with different properties.

In order to form a Self tuning or adaptive control system, three forms of controls can be used: 1- Pole placement (assignment) control. 2- Minimum variance control. 3- Multistage predictive control.

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Adaptive Control General Algorithm of pole assignment: Consider a system defined by the equation: A.y(z)=B.u(z)+C.e(z) Where y(t) is the output, u(z) is the input and e(z) is the disturbance. Consider a noise-free system model: A.y(z)=B.u(z) With a controller of the form: F.u(z)=-G.y(z)+H.r(z) Where:
F = 1 + f1. Z 1 + .............. + fnf .Z nf

(10)

(11)

G = gO + g1.Z 1 + .............. + g ng .Z ng
H = h O + h1. Z 1 + .............. + h nh .Z nh

Then, the closed loop system equation is, (combining equation 10 and 11): (F.A+B.G)y(z)=B.H.r(z)
y( z ) = B .H r( z ) F .A + B.G

(12)

Fig. Closed loop system with controller.

Now, if the desired closed loop pole set is defined by the roots of:
T = 1 + t 1 .Z 1 + t 2 .Z 2 + ....... + t nt .Z nt

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Adaptive Control then the controller coefficients which assign the actual pole set to the desired set are given by the solution of: F.A+B.G=T

(13)

Equation (13) can be written as a set of simultaneous equations by equating coefficients of like power of Z i .If the order nf and ng are chosen correctly, then the set of simultaneous equations will have a unique solution.

Re-writing equation (13) in terms of the polynomial gives:

(1 + f1. Z 1 + .............. + fnf .Z nf ) . (1 + a1.Z 1 + .......... .... + a na .Z na ) .+ (b1. Z 1 + .......... .... + a nb .Z nb ) . (g O + g1.Z 1 + .............. + g ng .Z ng ) = 1 + t 1 .Z 1 + t 2 .Z 2 + ....... + t nt .Z nt

(14)

The above equation shows that: a) Because the largest power of Z i to occur on the L.H.S are (nf + na) and (ng + nb), then it is possible to generate, (by comparing coefficients of
Z i ), nf + na= ng + nb equations.

b) There are 1+ nf + ng unknown coefficients of the polynomials F and G. Hence, foe a unique solution to equation (13), we require: nf + na= ng + nb= nf + ng +1 or nf = nb-1 ng = nb -1 nt na+ nb-1 Conditions of the design

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