June 21, 2019

Introduction to Adaptive Control

Instructor: Dr. Muhammad Jawad Khan

Assistant Professor, RIME,
SMME, NUST.

RIME,
SMME, NUST
Outline

RIME,
SMME, NUST
Reference Book

• Adaptive Control
– By K. J. Astrom

RIME,
SMME, NUST
Grade distribution

• Final: 40%
• OHT: 30%
• Assignment: 5%
• Quiz: 10%
• Project: 15%

RIME,
SMME, NUST
What is a control system?

• A control system is an interconnection of many

components or foundation units in such a way
to produce a desired result.

RIME,
SMME, NUST
5/19
Defination
• A control system consists
of subsystems and
process(or plants)
assembled for the
purpose of controlling
the outputs of the
process.
• Mathematical Dynamics,
Analysis of Dynaimcs
Characteristics
• Advantages: Power
Amplification,
Remote Control,
Convenience of Input,
Compensation for
disturbances

RIME,
SMME, NUST
6/19
Examples

RIME,
SMME, NUST
7/19
RIME,
SMME, NUST
8/19
RIME,
SMME, NUST
9/19
• Mobile Robot : Environment Recognition
– Environment Recognition by Vision
– Recognizing Doors and Room Numbers
– Searching Target Room

RIME,
SMME, NUST
10/19
RIME,
SMME, NUST
11/19
RIME,
SMME, NUST
12/19
Closed-loop control

RIME,
SMME, NUST
13/19
RIME,
SMME, NUST
14/19
Linear Feedback-2DoF

RIME,
SMME, NUST
Judging process variation from open-
loop data

RIME,
SMME, NUST
Contd…

RIME,
SMME, NUST
Another case

RIME,
SMME, NUST
Contd…

RIME,
SMME, NUST
Non-linear actuator

RIME,
SMME, NUST
Flow and speed variation

RIME,
SMME, NUST
Flight control

RIME,
SMME, NUST
Changing disturbances

RIME,
SMME, NUST
Assignment no.1
• Find the Transfer Function and Bode plots of the
previous examples Mathematically and verify
them using MATLAB codes. (Hint: Read chapter
1). Assume the missing parameters.

• What are the differences between theorems,

definitions, axioms, lemmas, corollaries,
propositions, and statements?

• Submission: 4:55 PM before next class. (No

extensions)

RIME,
SMME, NUST
Semantics

RIME,
SMME, NUST
RIME,
SMME, NUST
Adaptive Control

RIME,
SMME, NUST
Brief History

RIME,
SMME, NUST
An adaptive control system

RIME,
SMME, NUST
RIME,
SMME, NUST
Parameter adaptive systems

RIME,
SMME, NUST
Identification

RIME,
SMME, NUST
Types

RIME,
SMME, NUST
Indirect adaptive control

RIME,
SMME, NUST
Adaptive schemes

RIME,
SMME, NUST
Gain scheduling

RIME,
SMME, NUST
Contd…

RIME,
SMME, NUST
Model reference adaptive control

RIME,
SMME, NUST
MRAS

RIME,
SMME, NUST
Self-tuning regulators

RIME,
SMME, NUST
Contd…

RIME,
SMME, NUST
Dual control

RIME,
SMME, NUST
Adaptive control problem

RIME,
SMME, NUST
Applications

RIME,
SMME, NUST
Conclusions

RIME,
SMME, NUST
Reading assignment

• Study:
• 1. State-space models
• 2. Bode plots
• 3. Chapter 1 from the Reference book
• Differences between theorems, definitions, axioms,
lemmas, corollaries, propositions, and statements

• Discussion in the next class

RIME,
SMME, NUST
Regarding project

• Implement Adaptive control scheme on a

system of your choice.

• Marks distribution:
Report+Presentation+Demo

RIME,
SMME, NUST
Next class

• Basics of identification

RIME,
SMME, NUST