ELL 802: Adaptive and Learning

Control
Lecture 1
Course Information
Course Objectives
This is an advanced course on control system design which combines feedback,
adaptation and learning for engineered systems. The course involves a mathematically
rigorous treatment of questions on stability, convergence and robustness of adaptive
systems. The format of the course is research-oriented with emphasis on reading
research papers and implementing simulation projects.

Course Topics
This is a tentative list of topics to be covered during the course.
1. Introduction
2. Lyapunov Stability Theory: A nice tutorial is here
3. Model Reference Adaptive Control and Adaptive Command Tracking
4. Adaptive Control for Nonlinear Systems
5. Neural Network Control
6. Robust Adaptive Control
7. Parameter Convergence in Adaptive Control
8. Composite Adaptive Control
9. Adaptive Observers (time permitting)
10. Learning-Based Adaptive Optimal Control (time permitting)
11. Adaptive Backstepping (time permitting)
Course Information

Prerequisites
The course assumes a good understanding of control systems (UG level) and state-space
analysis, a basic understanding of Lyapunov stability theory and coding skills in
MATLAB/Simulink. The prerequisite courses offered at IITD are Multivariable Control
(ELL333), Nonlinear Systems/Control (ELL702/ELL801).

References
There is no reference text for this course. The following references may be helpful to
develop prerequisite background for the course.
• P. Ioannou and B Fidan, Adaptive Control Tutorial, SIAM,
2006 http://www.siam.org/books/dc11/
• S. Sastry and M. Bodson, Adaptive Control, Prentice-Hall, 1989 (available
at http://www.ece.utah.edu/%7Ebodson/acscr/index.html)
• K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems, Prentice-Hall, 1989
• H. K. Khalil, Nonlinear Systems, Prentice Hall, 3rd edition, 2002
• J.J.E. Slotine, and W. Li,Applied Nonlinear Control, Prentice-Hall, 1991
Course Information
Grading
Assignments/Projects: 40%
Minor: 10%
Term paper: 20%
Major: 30%

Course Management
Moodle (https://moodle.iitd.ac.in/). All course related material including lecture notes,
additional reading, assignments etc. will be posted here. Submission of assignments and
exams will also be on moodle, including grade management. The video lectures will be
posted on Impartus (can be accessed from the moodle course page).

Online Teaching
MS Teams will be used for delivering live classes unless notified otherwise. Piazaa will be
used to encourage class-related discussions. Please join Piazaa class
at http://piazza.com/iit_delhi/fall2020/ell802
Academic Honesty

Discussion is allowed on homework and projects, but not copying.

Students are required to turn in their original work. First time
offenders will get a zero on that work. Repeat offenders will invite
a letter grade penalty or more.