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Adaptive Control and Recursive System Identification

Credits

6 (8 with mini-project)

Lectures

Nr   Date and Time   Place       Contents   Literature  
1 20150120 10-12 Signalen Adaptive control/Recursive system identification Å-W Ch. 1, 2
2 20150127 15-17 Systemet Adaptive control: Deterministic STRs Å-W Ch. 3
3 20150203 15-17 Systemet Adaptive control: Stochastic STRs Å-W Ch. 4
4 20150217 15-17 Systemet Adaptive control: MRAS Å-W Ch. 5
5 20150224 15-17 Systemet Adaptive control: Properties Å-W Ch. 6.1-6.5
6 20150310 10-12 Systemet Averaging Å-W Ch. 6.6-6.10; J1
7 20150317 15-17 Systemet Recursive system identification/Stochastic adaptive control J2; Å-W Ch. 7 (Extra: L-S Ch. 2)
8 20150324 15-17 Systemet Recent advances J3; J4; J5; J6

Exercise sessions

Nr   Date and Time   Place       Contents   Literature  
1 20150127 13-15 Systemet Adaptive control/Recursive system identification 2.2, 2.3, 2.6, 2.13, 2.17, 2.21
2 20150203 13-15 Systemet Adaptive control: Deterministic STRs 3.1, 3.3, 3.6, 3.7, 3.8
3 20150217 13-15 Systemet Adaptive control: Stochastic STRs 4.2, 4.3, 4.9, 4.11
4 20150224 13-15 Systemet Adaptive control: MRAS 5.1, 5.2, 5.4, 5.9, 5.17
5 20150310 8-10 Systemet Adaptive control: Properties 6.1, 6.5, 6.8, 6.11
6 20150317 13-15 Systemet Averaging 6.10, 6.19, 6.25, [Repeat the simulations in Example 6.13]
7 20150324 13-15 Systemet Recursive system identification ex7.pdf
8 20150331 13-15 Systemet Recent advances Select and read a recent article about adaptive control and/or recursive system identification and prepare a 10 min presentation of it. Try to explain the main ideas and make a comparison with the classic approaches.

Examination

Active participation in exercise solving sessions or hand-in exercises during the course. Contact the examiner if you want to do an optional mini-project.

Literature

Å-W: K. J. Åström and B. Wittenmark, Adaptive Control, (2nd edition). Dover Publications, 2008.

L-S: L. Ljung and T. Söderström, Theory and Practice of Recursive Identification, MIT Press, 1983.

J1: Ljung, L., Analysis of recursive stochastic algorithms, IEEE Trans. Automat. Contr., Vol. AC-22, No. 4, 1977, pp. 551-575. (Also available in the book Control Theory: Twenty-Five Seminal Papers (1932-1981))

J2: Ljung, L., Asymptotic behavior of the extended Kalman filter as a parameter estimator for linear systems, IEEE Trans. Automat. Contr., Vol. AC-24, No. 1, 1979, pp. 36-50.

J3: Dydek, Z.T., Annaswamy, A.M., and Lavretsky, E., Adaptive control and the NASA X-15-3 flight revisited, IEEE Control Systems Magazine, Vol. 30, No. 3, 2010, pp. 32-48.

J4: Cao, C. and Hovakimyan, N., Design and analysis of a novel L1 adaptive control architecture with guaranteed transient performance, IEEE Trans. Automat. Contr., Vol. 53, No. 2, 2008, pp. 586-591.

J5: Ioannou, P.A., Annaswamy, A.M., Narendra, K.S., Jafari, S., Rudd, L. Ortega, R., and Boskovic, J., L1 adaptive control: Stability, robustness and interpretations, IEEE Trans. Automat. Contr., Vol. 59, No. 11, 2014, pp. 3075-3080.

J6: Lewis, F.L., Vrabie, D., and Vamvoudakis, K.G., Reinforcement learning and feedback control: Using natural decision methods to design optimal adaptive controllers, IEEE Control Systems Magazine, Vol. 32, No. 6, 2012, pp. 76-105.

Course Leader

Martin Enqvist


Page responsible: Martin Enqvist
Last updated: 2015-03-27