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Tuning
Kumpati S. Narendra and Osvaldo A. Driollet
Center for Systems Science
Department of Electrical Engineering
Yale University, New Haven, C T 06520, USA
Abstract
The paper describes the efforts in recent years to increase substantially the scope of adaptive control by
using multiple models, switching, and tuning. Both
deterministic and stochastic systems are considered
and stability and convergence problems are discussed.
While deeply rooted in conventional adaptive control
theory, the multiple model approach provides greater
flexibility in design, and in many cases may result in
faster, more accurate, and more robust systems. Practical applications in flight control, process control, the
control of a flexible transmission system as well as a solar power plant, where the approach has already proved
to be successful, are also described.
1 Introduction
0-7803-5800-7/00$10.0002000 IEEE
2 Multiple Models
Esfimfion Model l2
Ident. error 1
MCh
.................
r I
)-
As the system grows in complexity, the number of different situations that can exist also grows, and corresponding to each of these situations the system must
have a model and a controller. Dealing with such a
situation in a computationally efficient manner is one
of the challenges facing the control theorist.
Contmller C
,
DesiredOutput
for understanding different aspects of the same phenomenon. Multiple models are needed to describe the
plant characteristics when they change rapidly with
time, as for example, when there is a fault or a subsystem failure. In some cases, two or more models may
be included to realize their combined advantages.
2.1 Switching and Tuning
Switching and tuning are mutually exclusive and logically exhaustive methods of adjusting parameters. In
conventional adaptive control, parameters are tuned to
improve a performance criterion. When the tuning set
is discrete, e.g. a finite number of models from which
one has to be chosen as an approximation of the plant,
there is no alternative to switching. Both switching
and tuning arise in control of systems in the presence
of dynamical systems, and both have been extensively
studied.
In
Figure
4 ,I2,-.-,
IN are the N predictive models used to
estimate the parameters of the plant. CI,
C2,... ,CN
are N controllers corresponding to the N predictive
models, and as mentioned earlier, the controller Ci is
used to control the plant at any instant if the model
Ii is judged to be the best at that instant. If 3ji is the
output of model Ii,y - & = ei is the output prediction
error, and a performance criterion J ( e i ) i = 1,2, ...N
is used to determine which of the pairs [ I j ,Cj] is used
at any specific instant. The choice of J ( e i ) determines
how rapidly the system can switch from one model
to another and hence the overall performance of the
system.
controller would evolve to a minimum-variance controller. From the analysis of the stochastic adaptive
control problem contained in [3], the importance of the
parameter estimation scheme in proving convergence
of the control problem became evident. This was made
use of in [4]to demonstrate that different estimation
schemes, which result asymptotically in similar inequalities involving outputs and parameter errors, could be
used simultaneously to improve the performance of a
stochastic adaptive system in the presence of a random
disturbance.
In this paper we shall consider both continuous-time
and discrete-time systems and examine critically the
results presented in all four papers [1]-[4], which represent the state of the art in this area. Following this we
will discuss how some of these ideas can be extended
to more complex cases. Towards the end of the paper,
applications based on the Multiple Models Switching
and Tuning (MMST) approach are discussed.
3.1 Deterministic Adaptive Control
Consider the equation
Y(k) = 4 v - 1 ) Q O
where q5(k) E Rn is a regression vector at time k ,
80 E R is an unknown constant parameter vector of
the plant, and y(k) is the output of the plant at time
k. Equation (1) is an input-output description of the
deterministic plant to be controlled. For simplicity it is
assumed that the delay of the plant is unity. Numerous
recursive algorithms have been proposed to estimate
the parameter 8 0 . In one such algorithm (the recursive
least squares) the estimation model is described by the
equation
$(IC) = @ ( k - 1)8(k - 1)
(2)
where the parameter estimate is updated as
4T(k)w).
(3)
3.1.3 Fixed and Adaptive Models: The approach described above is fast and accurate, but is
computationally intensive. In view of this, numerous
schemes involving fixed and adaptive models were suggested in [l]. The scheme that was recommended over
all the others consists of N - 2 fixed models, a free
running adaptive model, and an adaptive model that
is initialized at every instant k at precisely the point
in parameter space where the fixed model is found to
be optimal at that instant. This reinitialized adaptive
model is used only so long as no other fix model is
chosen. If at a later instant another fixed model Ij is
chosen, the previous reinitialized adaptive model at Ii
is replaced by the one at I j . The proof of convergence
of this scheme is given in [2].
161
= f#)*(k - d)e^(k- 1)
where
+ 1),u(k - d),
- l ) , . . . ,&(k - I + l)]
= [ Q O , Q l , . ..,Qn7h00,. .
. 7
P m + d - - l , C l , c27..
. cn]
7
The MMST approach developed for linear systems attains its full potential when dealing with nonlinear systems. The structure of the overall system is the same as
that shown in Figure 1, but Ii and Ci are approximated
using neural networks.
From a system theoretic point of view neural networks can be considered as practically implementable
parametrizations of nonlinear maps from one finite dimension space to another. In identification and control
problems our objective is t o first demonstrate theoretically that certain nonlinear maps exist, and later use
neural network to approximate them. For example, it
can be shown that an input-output (NARMA) representation of the form
exists for a nonlinear plant of degree n in the neighborhood of its equilibrium state, and that the corresponding input u ( k )to the system can be expressed in terms
of the past values of the inputs and outputs as well as
the desired output r ( k ) as
and
6(k
3.2.2 Adaptive Control using Multiple Estimation Algorithms: The proof of convergence
+ d) = n i ~ [ y ( k )y(k
, - I), . . . , y(k - n + l ) ,
T ( k ) , U ( k ) ,u(k - l), . . . ,u ( k - 71 + I)]
162
can be used to approximate them. Using such representations, methods for tracking bounded desired outputs
have been studied extensively in the literature [5], and
such methods have also been extended to multivariable systems as well as disturbance rejection problems.
The success of neural networks in the above case provided the incentive t o attempt their use in control problems using the MMST approach. While the methodology is the same, the implementation raises many questions concerned with the location of different models,
creation and deletion of models, speed of adaptation,
stability, and robustness. Considerable advances have
been made in each of the above areas. In particular,
it has been recently shown [6] that under suitable assumptions concerning the nonlinear plant to be controlled, the MMST approach using a combination of
linear and neural network based identifiers and controllers can improve performance of the system while
assuring stability. In a similar fashion, under appropriate assumptions, it also appears possible to combine advanced information processing capabilities such
as pattern recognition, adaptation, learning, and optimization to perform satisfactorily in complex systems
in the presence of nonlinearity and uncertainty.
5 Applications
system using a single model made the latter unacceptable. At the present time BoSkovi6 and his group are
investigating the robustness of the MMST approach.
Process Control: Another area where the MMST approach may prove attractive is in process control.
Chemical companies, interested in the applicability of
advanced control theories to industrial process control
have presented benchmark problems that include many
difficulties encountered by the process control industries. These include nonlinearities, product transitions,
constrains and delays. Recently, Gundala and Hoo [8]
have applied the MMST approach to control a MIMO
nonlinear stable two-phase chemical reactor. The authors conclude that the approach is particularly attractive when the process is known to transition to unknown operating states. The response obtained was
faster and more accurate compared to a multiple PI
controller strategy.
timodel scheme was found to be superior to the conventional adaptive control scheme both in regard to
robustness in the presence of disturbances, as well as
the amount of prior information needed to design the
controller.
[4] K. S. Narendra and 0. Driollet, Stochastic Adaptive Control Using Multiple Estimation Models, Technical Report 2002, Center for Systems Science, Yale
University, 2000. To be published in The International
Journal of Adaptive Control and Signal Processing,
Special Issue on Switching and Logic in Adaptive Control.
6 Conclusions
[5] J. Cabrera and K. S. Narendra, Issues in the Application of Neural Networks for Tracking Based on Inverse Control, IEEE Trans. on Automatic Control, vol.
44, no. 11, pp.2007-2027, November 1999.
Acknowledgment
The research reported here was supported by Contract
N00014-97-1-0948 from the Office of Naval Research.
References
[l] K. S. Narendra and J. Balakrishnan, Improving