Master Course

ADAPTIVE AND LEARNING CONTROL

Prof. Dr.-Ing. Michael Schnell

Adaptive and Learning Systems 1

 Learning objectives March 30, 2011
Review…
… course organization
… Block diagram of a digital control system, digital/time-discrete signals

Outline today…
… introduction
• definition
• examples
… prior knowledge:
• digital system, z-transfer function
• Discretisation PID-Controller

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 Course organization

• Lecture “Adaptive and Learning Control”:

Wednesday, 12:00 – 01:30 pm
B14/15 (D17/114)

• Lecture “Synthesis of dynamic systems …”

Thursday, 10:15 – 11:45 am
B14/15 (B14/106)

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statistics of the course:

Automation: approx. 16 Students

Power Engineering: approx. 24 Students

private PC /
MATLAB student licence
available?
ALL PARTICIPANTS!!!!!!

Adaptive and Learning Systems 4

 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

Adaptive and Learning Systems 5

Definition of ADAPTIVE CONTROL
What is adaptive control…

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Definition of ADAPTIVE CONTROL
What is adaptive control…

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Definition of ADAPT

Change (oneself)
so that one‘s behavior will conform
to new or changed circumstances

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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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 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

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Examples

Adaptive and Learning Systems 12

Examples
Process: & = a ⋅ x(t) + u(t)
x(t)
u(t): input (actuating variable)
x(t): output (controlled variable, state variable)

Adaptive and Learning Systems 13

Introduction
Summary…

• Adaptive Control is a potential approach to use in situations where

ordinary controllers cannot handle the process.
• Adaptive control has advantages and limitations.
• Adaptive control involves learning and identification.
This requires data with sufficient information about the unknown
process parameters.
• Therefore the plant has to be excited and this may lead to process
behavior which may not be desirable.
• In many applications, there is sufficient information about the
parameters and on-line learning is not required.
• In such cases, linear robust control techniques may be more
appropriate.
• 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, and
handling parametric uncertainties).

Adaptive and Learning Systems 14

 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

Adaptive and Learning Systems 15

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

Adaptive and Learning Systems 16

 Fundamentals
Block diagram of a digital control system:

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 Fundamentals
signals of a digital control system:

Error correction (rigth figure):

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

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 exercises:

1)

Error correction (rigth figure):

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

k =0 k =0

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 Exercise
Sampling element:

Output signal y*(t):

Output signal Y*(s):

Definition of z-Transformation from time/Laplace-plane

into z-plane with z-operator: T ⋅s
z=e 0