ADAPTIVE & OPTIMAL CONTROL

SYSTEMS

ADAPTIVE CONTROLLER

An adaptive controller is a controller that can modify its

behavior in response to the changes in dynamics of the
process.
The main goal of is to compensate for parameter
variations, changes in operating condition and
disturbances acting on the process
The basic operation is to maintain consistence
performance in the presence of unknown variations in
the plant process.
There are two types of adaptive control system Model
Reference Adaptive Control
Neuro-Fuzzy Adaptive Control

ADAPTIVE CONTROLLER

Adaptive controller has

adjustabel
parameters
and a mechanism for
adjusting the parameters.
An adaptive controller has
two loops
One loop is a normal
feedback loop and the
other loop is a parameter
adjustment loop.
The parameter adjustment
loop is often slower than
the normal feedback loop.

MODEL REFERENCE ADAPTIVE

CONTROL

MRAC is composed
of PLANT containing
unknown
parameters, a
REFERENCE MODEL
for specifying the
desired output and
a FEEDBACK
CONTROL law
containing the
adjustable
parameters.

MODEL REFERENCE ADAPTIVE

CONTROL

Plant
The pant is assumed to
have a known structure.
Reference Model
It is used to specify the
ideal response of the
system
The ideal response
specified by the
reference model should
be achieved by
adaptive control system.

MODEL REFERENCE ADAPTIVE

CONTROL

Adaptation Mechanism
In MARC system the adaptation
law searches for the parameters
such that the response of the
plant becomes the same of the
response model.
The adaptation mechanism
drives the tracking error to zero.
The design of MRAC usually
involves the following 3 steps
(1) Choose a control law
containing variable parameters.
(2) Choose a adaptation law for
adjusting those parameters.
(3) Analyze the properties of the
closed loop system

NEURO-FUZZY ADAPTIVE CONTROL

A controller which is
made by the
combination of neural
network and fuzzy logic
is known as NEUROFUZZY ADAPTIVE
CONTROLLER.
The term Neuro-Fuzzy
is associated with
hybrid systems which
act on two distinct sub
problems.

In this technique the neural network learning

mechanism determines the fuzzy logic.
In general it is a type of system where the
fuzzy rules are adjusted using neural networks
tuning techniques in an interactive way.
It shows two distinct behaviour. In the first
phase the systems learns its internal
parameters in off line. Later in execution
phase ot behaves likes a fuzzy logic system.

ADVANTAGES OF NEURO-FUZZY CONTROLLER

Learning Ability
Parallel Processing
Easy explanation of results
Robustness in relation to problem
solving

OPTIMAL CONTROL

Optimal control deals with the problem

of finding acontrol lawfor a given
system such that a certain optimality
criterion is achieved. A control problem
includes acost functionthat is a
functionof state and control variables.
Anoptimal controlis a set of
differential equationsdescribing the
paths of the control variables that
minimize the cost function.

EXAMPLE

PRINCIPLE OF OPTIMALITY

The principle of optimality states that

whatever the initial state is, the
remaining decisions must be optimal
with regards to the final state
Here we are not concerned by the
trajectories that one takes.
We are only concerned as to what input
must be applied optimally to take
trajectories from one state to the other.