ECE 1649 -- Adaptive Control
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Lecture times
Sorry, this course is not offered in 1998-99.
Course Description
An adaptive controller is one which tunes itself, changing its own
parameters as a function of time, in an effort to improve performance
or robustness of the closed-loop control system. During the last
decade, many important advances have been made in adaptive control.
This course is a state-of-the-art presentation of parameter-adaptive
control from a deterministic (versus stochastic) viewpoint. Control
of linear, time-invariant, continuous-time plants with unknown
parameters will be emphasized, although straightforward extensions to
linearly parameterized nonlinear plants will be explored. The course
material is divided into four main areas:
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Plant Identification: Methods to identify plant model
parameters. Topics include plant structures, algorithms, stability and
parameter convergence.
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Adaptive Control Theory: Methods to tune controller parameters to
achieve stability and other performance criteria. Topics include
model reference adaptive control (MRAC), adaptive backstepping,
stability.
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Robustness: Although an adaptive controller is designed to be
robust with respect to parameter uncertainty, other mechanisms can
cause instability, e.g., disturbances, unmodeled dynamics. We will
study these instability mechanisms, and present methods to compensate.
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Adaptive Control Practice: Examples of adaptive controller
implementation, including robotics, electric motors, etc.
No background in stability (Liapunov) theory is necessary; what is
required will be introduced on an ``as needed'' basis. Students will
be expected to complete 3 out of 4 ``mini-projects'' during the course
of the semester, one from each of the four categories above. A "final
exam" will consist of a thirty-minute oral presentation to the class on
a topic of the student's choice. Material will be drawn from the
currently popular textbooks and various papers.
Textbooks
- Astrom and Wittenmark,
Adaptive Control, Second Edition,
Addison Wesley, 1995.
- Krstic, Kanellakopoulos and Kokotovic,
Nonlinear and Adaptive Control Design,
Wiley, 1995.
- Ljung,
System Identification, Prentice Hall, 1987.
- Various papers from the technical literature.
Projects
Mark Composition
Students must complete three of the four projects. If all four are
submitted, the top three marks will be counted, and the lowest of the
four will be dropped. Each project will count 25% of the final mark.
A 30 minute oral presentation on a topic related to adaptive control,
which will be agreed to by the instructor and student, will comprise the
remaining 25% of the mark.
- 75% Best three projects.
- 25% Oral presentation.
bortoff@control.toronto.edu