|Subject Area||Signals, Communications, and Networking|
|Semester||Semester 9 – Fall|
Topics covered include Adaptive control for linear and nonlinear systems, Adaptive observers, Model reference adaptive control, Convergence and stability of adaptive systems, Robustness issues and robust redesign, Manifolds of slow adaptation and two-time scale analysis, Adaptive backstepping design for nonlinear systems, Applications.
A final project is required by each student that gives the opportunity to apply both analytical and synthesis skills, starting with their ability to analyze and provide solution to an adaptive control problem for a parametrized process, implement it efficiently in software and present it appropriately through a project report.
In titles, subject covered are:
- Introduction to non-linear and adaptive control
- Recursive parameter estimation
- Model reference adaptive control
- Adaptive pole placement control
- Robust adaptive control schemes
- Averaging-based analysis
- Adaptive control of nonlinear systems
- Applications of adaptive and non-linear control
Homework assignments and final project are also significant components of the course.
The main course goal is to give a broad overview of adaptive control for linear and nonlinear systems. The focus of the course is on introducing fundamental concepts and issues in the analysis and design of adaptive control systems and nonlinear systems. The concepts of feedback, adaptation and learning are not only essential elements in most engineering systems, but also in biological systems. The subject of system identification (i.e. learning a model from empirical data) will be developed and studied throughout the course, to the level necessary to understand and analyze the behavior of adaptive control schemes such as model reference adaptive control and self-tuning regulators. Questions of convergence, stability, and robustness will be addressed. We will discuss various analytical methods central to the subject. Methods from averaging theory and singular perturbation will be developed. Results from advanced stability theory will be developed and applied to the analysis of adaptation schemes.
By the end of the course, students must be able to estimate unknown processes and work with nonlinear systems. Typical students will have acquired the following skills:
- Understanding the nature and characteristics of non-linear systems
- Ability to estimate parameters of unknown systems
- Develop robust and stable adaptive controllers
- Present and explain their results in engineering terms and a professional manner
- The ability to evaluate the results of their work, by comparing them with those provided by the theory and often with those resulting from alternative methods
- The skills to continue studying more advanced related subjects