EECE 574 Adaptive Control

Guy A. Dumont MCLD 419 Tel: 604-822-2336 email: guyd@ece.ubc.ca Lectures: Thursday 13h00-15h30 Location: PPC 101 First Lecture on Thursday January 06

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

EECE 574: Adaptive Control

Course Objective:
To give an overview of the theory and practice of the mainstream adaptive control techniques

Four assignments: 15% each Project: 40% Textbook:

K.J. strm and B. Wittenmark, Adaptive Control, Addison-Wesley Publishing Co., Inc., Reading, Massachusetts, A o 1995.

Related books:
Landau, Lozano and MSaad, Adaptive Control, Springer-Verlag, Berlin, 1998. Goodwin, and Sin, Adaptive Filtering, Prediction, and Control, Prentice-Hall, Englewood Clis, N.J., 1984. Isermann, Lachmann, and Matko, Adaptive Control Systems, Prentice-Hall, Englewood Clis, N.J., 1992. Landau, Lozano, and MSaad, Adaptive Control, Springer, 1997. Wellstead, and Zarrop, Self-Tuning Systems Control and Signal Processing, J. Wiley and Sons, N.Y., 1991 Bitmead, Gevers, and Wertz, Adaptive Optimal Control, Prentice-Hall, Englewood Clis, N.J., 1990. Ljung, and Sderstrm, Theory and Practice of Recursive Identication, MIT Press, Cambridge, Mass., 1983. o o

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

Course Outline

1. Introduction 2. Identication 3. Control Design 4. Self-Tuning Control 5. Model-reference Adaptive Control 6. Properties of Adaptive Controllers
Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005 2

7. Auto-Tuning and Gain Scheduling 8. Implementation and Practical Considerations 9. Extensions

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

What Is Adaptive Control?

According to the Websters dictionary, to adapt means: to adjust oneself to particular conditions to bring oneself in harmony with a particular environment to bring ones acts, behaviour in harmony with a particular environment According to the Websters dictionary, adaptation means: adjustment to environmental conditions alteration or change in form or structure to better t the environment

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

When is a Controller Adaptive?

Linear feedback can cope with parameter changes (within some limits) According to G. Zames1: A non-adaptive controller is based solely on a-priori information An adaptive controller is based on a posteriori information as well

35th CDC, Kobe, Dec. 1996

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Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

A Narrow Denition of Adaptive Control

An adaptive controller is a xed-structure controller with adjustable parameters and a mechanism for automatically adjusting those parameters In this sense, an adaptive controller is one way of dealing with parametric uncertainty Adaptive control theory essentially deals with nding parameter ajustment algorithms that guarantee global stability and convergence

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

Why Use Adaptive Control?

Control of systems with time-varying dynamics If dynamics change with operating conditions in a known, predictable fashion, use gain scheduling If the use of a xed controller cannot achieve a satisfactory compromise between robustness and performance, then and only then, should adaptive control be used. Use the simplest technique that satises the specications
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. . . or as A. Einstein apparently once said: make things as simple as possible, but no simpler
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Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

Feedback and Process Variations

Consider the feedback loop:

Controller ysp + C Process

u
P

The closed-loop transfer function is PC T = 1 + PC

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005 8

Dierentiating T with respect to P : 1 dP dP dT = =S T 1 + PC P P T and S are respectively known as the complementary sensitivity and the sensitivity functions. Note that S+T =1

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

Feedback and Process Variations

The closed-loop transfer function is NOT sensitive to process variations at those frequencies where the loop transfer function L = P C is large Generally L >> 1 at low frequencies, and L << 1 at high frequencies However, L >> 1 can only be achieved in a limited bandwidth, particularly when unstable zeros are present

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Judging the Severity of Process Variations

Dicult to judge impact of process variations on closed-loop behaviour from open-loop time responses Signicant changes in open-loop responses may have little eect on closed-loop response Small changes in open-loop responses may have signicant eect on closed-loop response Eect depends on the desired closed-loop bandwidth Better to use frequency responses

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Mechanisms for Process Dynamics Changes

Nonlinear actuators or sensors Nonlinear valves pH probes Flow and speed variations Concentration control Steel rolling mills Paper machines Rotary kilns

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Mechanisms for Process Dynamics Changes

Wide operating range with a nonlinear system Flight control Variations in Disturbance Dynamics Wave characteristics in ship steering Raw materials in process industries

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Example 1.1

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Example 1.2
20(1 Ts ) Go = , ( s + 1)( s + 20)(1 + Ts ) T = 0, T = 0.015, T = 0.03

K = 20

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Controller is changed as low pass filter

0 .5 C (s) = s+2

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Effect of Process Variations

Nonlinear Actuator (Example 1.4 Nonlinear Valve) v = f (u ) = u 4 u 0
uc

1 K 1 + TS i

u
f (.)

v
Go (s )

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Simulation Results
K = 0.15, Ti = 1, f (u ) = u ,
4
2

1 G0 ( s ) = ( s + 1) 3
Scope

0.3
Constant

In1 Out1

u^4
Valve

1 s3+3s 2 +3s+1 Process

Subsystem

0.35 0.3 0.25 0.2 0.15 0.1 0.05 0 0

10

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15 20 25 Time (S e conds )

30

35

40

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Simulation Results
K = 0.15, Ti = 1, f (u ) = u ,
4
2

1 G0 ( s ) = ( s + 1) 3
Scope

1.1
Constant

In1 Out1

u^4
Valve

1 s3+3s 2 +3s+1 Process

Subsystem

1.4 1.2 1 0.8 0.6 0.4 0.2 0 0

10

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15 20 25 Time (S e conds )

30

35

40

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Simulation Results
K = 0.15, Ti = 1, f (u ) = u ,
4
2

1 G0 ( s ) = ( s + 1) 3
Scope

5.1
Constant

In1 Out1

u^4
Valve

1 s3+3s 2 +3s+1 Process

Subsystem

9 8 7 6 5 4 3 2 1 0 0 5 10 15 20 25 30 35 40

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Time (S econds )

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Gain Scheduling

In many cases, process dynamics change with operating conditions in a known fashion Flight control systems Compensation for production rate changes Compensation for paper machine speed Controller parameters change in a predetermined fashion with the operating conditions Is gain scheduling adaptive?

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Gain Scheduling

Controller parameters

Gain schedule

Setpoint Controller

Input

Process

Output

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Development of Adaptive Control

Mid 1950s: Flight control systems (eventually solved by gain scheduling) 1957: Bellman develops dynamic programming 1958: Kalman develops the self-optimizing controller which adjusts itself automatically to control an arbitrary dynamic process 1960: Feldbaum develops the dual controller in which the control action serves a dual purpose as it is directing as well as investigating

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Development of Adaptive Control

Mid 60s-early 70s: Model reference adaptive systems Late 60s-early 70s: System identication approach with recursive leastsquares Early 1980s: Convergence and stability analysis Mid 1980s: Robustness analysis 1990s: Multimodel adaptive control 1990s: Iterative control
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Model Reference Adaptive Control

Performance specications given in terms of reference model Originally introduced for ight control systems (MIT rule) Nontrivial adjusment mechanism

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Model Reference Adaptive Control

Model

Model output

Controller parameters Setpoint Controller Input

Adjustment mechanism

Process Output

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Self-Tuning Controller

Model-based tuning consists of two operations: Model building via identication Controller design using the identied model Self-tuning control can be thought of as an automation of this procedure when these two operations are performed on-line

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Self-Tuning Controller

Process parameters Control design Controller parameters Setpoint Controller Input Process Output

Recursive estimation

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Self-Tuning vs. Auto-Tuning

Self-tuning Continuous updating of controller parameters Used for truly time-varying plants Auto-tuning Once controller parameters near convergence, adaptation is stopped Used for time invariant or very slowly varying processes Used for periodic, usually on-demand tuning

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Dual Control: A Rigorous Approach to Adaptive Control

Use of nonlinear stochastic control theory to derive an adaptive controller No distinction between parameters and state variables Hyperstate The controller is a nonlinear mapping from the hyperstate to the control variable

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Dual Control: A Rigorous Approach to Adaptive Control

Hyperstate

Hyperstate estimation Setpoint Nonlinear mapping Process Input Output

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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Dual Control: A Rigorous Approach to Adaptive Control

Can handle very rapid parameter changes Resulting controller has very interesting features: Regulation Caution Probing Unfortunately solution is untractable for most systems

Adaptive Control Lecture Notes c Guy A. Dumont, 1997-2005

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