Master Course

ADAPTIVE AND LEARNING CONTROL

LECTURE 3 (April 6, 2011)

Prof. Dr.-Ing. Michael Schnell

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 Learning objectives April 6, 2011
Review…
… block diagram of a digital control system, digital/time-discrete signals
... z-transformation

Outline today…
… fundamentals:
• digital system, z-transfer function
• discretisation PID-Controller
• simulation with MATLAB

… identification

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statistics of the course:

Automation: approx. 16 Students

Power Engineering: approx. 24 Students

private PC / LAPTOP available?

MATLAB student licence
available?

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 OUTLINE
1. Introduction
• Definition of adaptive and learning control
• Examples
2. Adaptive Control
• Fundamentals
Digital Control systems, Simulation of control systems, System identification
• Survey
Historical background, Classification of adaptive control structures
• Adaption of Compensators
• Adaption of Deadbeat-Controllers
• Adaptation of optimum controller
• Simulation of adaptive control systems
3. Learning Control
• Motivation for learning control
• Basic structures for learning control
• Neural networks for Controller
4. Summary and Outlook

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Definition of ADAPTIVE CONTROL
What is adaptive control…

• Definition Oxford English Dictionary

A form of control in which the control parameters are automatically
adjusted as conditions change so as to optimize performance

• Wiktionary
A form of control system whose parameters may be changed
dynamically in order to adapt to a changing environment.

• Definition VDI-Richtlinie 3685:

Ein adaptives Regelsystem ist ein solches, bei dem sich
beeinflussbare Eigenschaften automatisch im Sinne eines
Gütemaßes auf veränderliche oder unbekannte
Prozesseigenschaften einstellen.

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Definition of ADAPTIVE CONTROL
What is adaptive control…

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Definition of ADAPTIVE CONTROL

What is adaptive control…

… combination of

PARAMETER ESTIMATION,
which generates process parameter estimates online

with

CONTROL LAW
in order to control a process, whose parameters are unknown
and/or change with time

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 Examples

Examples
• Robot manipulation
• Ship steering
• Aircraft control
• Process control
• Neural control of movement

Why do we need adaptive control?

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Examples
Process: & = a ⋅ x(t) + u(t)
x(t)
u(t): input (actuating variable)
x(t): output (controlled variable, state variable)
X(s) 1
Transfer function process: G P (s) = =
U(s) s − a
U(s)
Transfer function controller: G C (s) = =K
E(s)
X(s) K
Transfer function closed loop:
G W (s) = =
W(s) s − a + K
Stability: s Pw = k − a < 0 : k > a

depends on unknown/uncertain process parameter k!

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Introduction
Summary…
• Adaptive Control is a potential approach to use in situations where
ordinary controllers cannot handle the process.

• Adaptive control involves learning and identification.

This requires data with sufficient information about the unknown
process parameters.

• In many applications, there is sufficient information about the

parameters and on-line learning is not required.

• There is no strict boundary between adaptive and non-adaptive control.

Adaptive control can be used on top of a main linear/non-adaptive
controller (fine tuning, performance enhancement, handling parametric
uncertainties, and handling processes without appropriate models).

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Fundamentals

• Adaptive Control is a progressive part of control system theory

• Consolidated knowledge in the areas of

• Digital systems
• Simulation and
• Identification

is requested

• Review on those topics with examples

• See also reference list

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 Fundamentals
Block diagram of a digital control system:

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 Fundamentals
Sampling element

Error correction (right figure):

∞ ∞
y* (t) = ∑ y(kT0 ) ⋅ δ(t − kT0 ) = y(t) ⋅ ∑ δ(t − kT0 )
k =0 k =0

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Fundamentals
Hold element

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Fundamentals

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 Fundamentals z-Transformation…
Definition z-Transformation from time/Laplace-plane into z-plane with z-operator:

z = eT0⋅s

Example: z-Transformation of the step function σ(t):

0 t<0
σ (t ) = 
1 t≥0

The infinite series can be written in closed form:

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 Adaptive control / Digital control systems

Properties of the z-Transformation

(all poles of (z-1)⋅X(z) are in the unit-

circle)

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 Adaptive control / Digital control systems

Table of the
z-Transformation

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 Adaptive control / Digital control systems

Digital control systems

Stability of a digital system represented by the z-Transfer
function G(z):

All poles G(z) are within the unit-circle

or
The absolute value of each pole has to be smaller then 1

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 Adaptive control / Digital control systems

Fundamentals ... Example

GS (s ) =
1 Y (z ) z − 1  1  z − 1  1 1 
G0GS (z ) = = ⋅ Z  ⋅ GS (s )  = ⋅Z  ⋅
(1 + 5s ) ⋅ (1 + 10s ) U (z) z s  z

 s (1 + 5s ) ⋅ (1 + 10s ) 

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