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ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS solves a problem in which the performance
specifications are given in terms of a reference model.
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MIT RULE:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
ALTERNATIVE:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
Adaptation of a feedforward gain:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS for a first order system:
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
Barbalats lemma
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
MODEL-REFERENCE ADAPTIVE SYSTEM (MRAS)
MRAS using Lyapunov theory
ADAPTIVE SCHEMES
GAIN SCHEDULING
It was originally used to accomodate changes in process
gain only
It has a linear controller whose parameters are changed
as a function of operating conditions in a programmed way
ADAPTIVE SCHEMES
GAIN SCHEDULING
The main problem is to find suitable scheduling variables
This is normaly done on the basis of knowledge of the
physics of a system
Ideally, there should be simple expressions for how the
controller parameters relate to the scheduling variables
In process control the production rate can often be
chosen as a scheduling variable, since time constants and
time delays are often inversely proportional to production
rate
ADAPTIVE SCHEMES
GAIN SCHEDULING
When scheduling variables have been determined, the
controller parameters are calculated at a number of
operating conditions by using some suitable design method
The contoller is thus tuned or calibrated for each
operating condition
Stability and performance of the system are typically
evaluated by simulation; particular attention is given to the
transition between different operating points
ADAPTIVE SCHEMES
GAIN SCHEDULING
Some ideas:
Linearization of nonlinear actuators
Gain scheduling based on measurements of
auxilary variables
Time scaling based on production rate
ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator
ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator
ADAPTIVE SCHEMES
GAIN SCHEDULING
Linearization of nonlinear actuator
ADAPTIVE SCHEMES
GAIN SCHEDULING
GS based on measurement of auxiliary variables
TANK IN WHICH THE CROSS SECTION A VARIES
WITH HEIGHT h
ADAPTIVE SCHEMES
GAIN SCHEDULING
GS based on measurement of auxiliary variables
TANK IN WHICH THE CROSS SECTION A VARIES
WITH HEIGHT h
T ( s) =
()
s 2 + 2s + 2
ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL
q(t) = const
ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL
q(t) = const
ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL
ADAPTIVE SCHEMES
GAIN SCHEDULING
Time scaling based on production rate
CONCENTRATION CONTROL
q(t) = const