2.

153 Adaptive Control

Lecture 3
Simple Adaptive Systems: Identification & Control

Anuradha Annaswamy

aanna@mit.edu

( aanna@mit.edu ) 1 / 12
Identification of a Vector Parameter - Error Model 1
Error Model 1:

θ:
e parameter error
˙
Adaptive law: θe = −eu
1
V = θeT θe
2
˙
V̇ = θeT θe
= −θeT eu
= −e2 ≤ 0
⇒ θ(t)
e is bounded for all t ≥ t0
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Error Model 3:

ė = −ae + θeT u

1  2 eT e
V = e +θ θ
2

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Error Model 3:

ė = −ae + θeT u

1  2 eT e
V = e +θ θ
2

˙
V̇ = eė + θeT θe

( aanna@mit.edu ) 3 / 12
Error Model 3:

ė = −ae + θeT u

1  2 eT e
V = e +θ θ
2

˙
V̇ = eė + θeT θe
˙
= −ae2 + eθeT u + θeT θe

( aanna@mit.edu ) 3 / 12
Error Model 3:

ė = −ae + θeT u

1  2 eT e
V = e +θ θ
2

˙
V̇ = eė + θeT θe
˙
= −ae2 + eθeT u + θeT θe
˙
= −ae2 + θeT (eu + θ)
e
= −ae2 ≤ 0
⇒ e(t) and θ(t)
e are bounded for all t ≥ t0
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Adaptive Control

Choose u so that e(t) → 0 as t → ∞. kp , ap are unknown.

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Certainty Equivalence Principle
Step 1: Algebraic Part: Find a solution to the problem when parameters
are known.
Step 2: Analytic Part: Replace the unknown parameters by their estimates.
Ensure stable and convergent behavior.

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Certainty Equivalence Principle
Step 1: Algebraic Part: Find a solution to the problem when parameters
are known.
Step 2: Analytic Part: Replace the unknown parameters by their estimates.
Ensure stable and convergent behavior.

Step 1: u(t) = θc xp + kc r, choose θc , kc so that closed-loop transfer

function matches the reference model transfer function.

( aanna@mit.edu ) 5 / 12
Certainty Equivalence Principle
Step 1: Algebraic Part: Find a solution to the problem when parameters
are known.
Step 2: Analytic Part: Replace the unknown parameters by their estimates.
Ensure stable and convergent behavior.

Step 1: u(t) = θc xp + kc r, choose θc , kc so that closed-loop transfer

function matches the reference model transfer function.
Desired Parameters: θc = θ∗ , kc = k ∗
am − ap km
θ∗ = , k∗ =
kp kp
( aanna@mit.edu ) 5 / 12
Certainty Equivalence Principle - Step 2
u(t) = θ(t)xp + k(t)r
θ̇(t) = −sign(kp )exp k̇(t) = −sign(kp )er
Error Model 3:

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Certainty Equivalence Principle - Step 2
u(t) = θ(t)xp + k(t)r
θ̇(t) = −sign(kp )exp k̇(t) = −sign(kp )er
Error Model 3:

 
1 T
2
V = e + |kp |θe θe
2

( aanna@mit.edu ) 6 / 12
Certainty Equivalence Principle - Step 2
u(t) = θ(t)xp + k(t)r
θ̇(t) = −sign(kp )exp k̇(t) = −sign(kp )er
Error Model 3:

 
1 T
2
V = e + |kp |θe θe
2
T˙
V̇ = eė + θe θe

( aanna@mit.edu ) 6 / 12
Certainty Equivalence Principle - Step 2
u(t) = θ(t)xp + k(t)r
θ̇(t) = −sign(kp )exp k̇(t) = −sign(kp )er
Error Model 3:

 
1 T
2
V = e + |kp |θe θe
2
T˙
V̇ = eė + θe θe
T˙
= am e2 + kp eθeT φ + |kp |θe θe

( aanna@mit.edu ) 6 / 12
Certainty Equivalence Principle - Step 2
u(t) = θ(t)xp + k(t)r
θ̇(t) = −sign(kp )exp k̇(t) = −sign(kp )er
Error Model 3:

 
1 T
2
V = e + |kp |θe θe
2
T˙
V̇ = eė + θe θe
˙T
= am e2 + kp eθeT φ + |kp |θe θe
˙
= am e2 + θeT (kp eφ + |kp |θ)
e
= am e2 ≤ 0
⇒ e(t) and θ(t)
e are bounded for all t ≥ t0
( aanna@mit.edu ) 6 / 12
Adaptive Gain γ

u(t) = θxp + kr
Introduce a gain γ θ̇(t) = −γsign(kp )exp , k̇(t) = −γsign(kp )er

1
Choose V = e2 +
2

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Adaptive Gain γ

u(t) = θxp + kr
Introduce a gain γ θ̇(t) = −γsign(kp )exp , k̇(t) = −γsign(kp )er
 
1 2 |kp | eT e
Choose V = e + θ θ
2 γ

( aanna@mit.edu ) 7 / 12
Adaptive Gain γ

u(t) = θxp + kr
Introduce a gain γ θ̇(t) = −γsign(kp )exp , k̇(t) = −γsign(kp )er
 
1 2 |kp | eT e
Choose V = e + θ θ
2 γ
˙ |kp | e
˙
V̇ = eė + θeT θe = am e2 + θeT (kp eφ + θ)
γ
( aanna@mit.edu ) 7 / 12
Adaptive Gain Example
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =1

3 x
xpm
2.5

2
State

1.5

0.5

0
0 10 20 30
time [s]

1
θ
k
0
Parameter

−1

−2

−3
0 10 20 30
time [s]
( aanna@mit.edu ) 8 / 12
Adaptive Gain Example
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =1 γ =10

3 x 3 x
xpm xpm
2.5 2.5

2 2
State

State
1.5 1.5

1 1

0.5 0.5

0 0
0 10 20 30 0 10 20 30
time [s] time [s]

1 1
θ θ
k k
0 0
Parameter

Parameter

−1 −1

−2 −2

−3 −3
0 10 20 30 0 10 20 30
time [s] time [s]
( aanna@mit.edu ) 8 / 12
Adaptive Gain Example
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =1 γ =10 γ =100

3 x 3 x 3 x
xpm xpm xpm
2.5 2.5 2.5

2 2 2
State

State

State
1.5 1.5 1.5

1 1 1

0.5 0.5 0.5

0 0 0
0 10 20 30 0 10 20 30 0 10 20 30
time [s] time [s] time [s]

1 1 1
θ θ θ
k k k
0 0 0
Parameter

Parameter

Parameter
−1 −1 −1

−2 −2 −2

−3 −3 −3
0 10 20 30 0 10 20 30 0 10 20 30
time [s] time [s] time [s]
( aanna@mit.edu ) 8 / 12
Asymptotic Convergence of e(t) to Zero

Lemma 2.12 (Barbalat’s) page 85

(i) If f : R+ → R is uniformly continuous for t ≥ 0
Rt
(ii) And if limt→∞ 0 |f (τ )|dτ exists and is finite
Then limt→∞ f (t) = 0
Corollary If g ∈ L2 ∩ L∞ , and ġ is bounded, then limt→∞ g(t) = 0.

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Closed-Loop Reference Model

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Closed-Loop Reference Model

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Closed-Loop Reference Model

Plant: ẋp = ap xp + kp u
Closed-loop Reference Model: ẋcm = am xcm + km r − `ec
Controller: u = θ(t)xp + k(t)r

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Closed-Loop Reference Model

Plant:
Closed-loop Reference Model:
Controller:
1 Stability is guaranteed
2 limt→∞ ec (t) = 0
( aanna@mit.edu )
ẋp = ap xp + kp u
ẋcm = am xcm + km r − `ec
u = θ(t)xp + k(t)r
10 / 12
Transient Performance With CRM

CRM gain ` affects:

L2 norm of ec(t)
L2 norm of θ̇(t), k̇(t)
L2 norm of u(t)
L∞ norm of xcm(t)

( aanna@mit.edu ) 11 / 12
Example With CRM
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =100, ℓ =-10

3 x
xpm
2.5 xcm
2
State

1.5

0.5

0
0 10 20 30
time [s]

1
θ
k
0
Parameter

−1

−2

−3
0 10 20 30
time [s]
( aanna@mit.edu ) 12 / 12
Example With CRM
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =100, ℓ =-10 γ =100, ℓ =-100

3 x 3 x
xpm xpm
2.5 xcm 2.5 xcm
2 2
State

State
1.5 1.5

1 1

0.5 0.5

0 0
0 10 20 30 0 10 20 30
time [s] time [s]

1 1
θ θ
k k
0 0
Parameter

Parameter

−1 −1

−2 −2

−3 −3
0 10 20 30 0 10 20 30
time [s] time [s]
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Example With CRM
Simulation Parameters: am = −1, km = 1, ap = 1, kp = 2
γ =100, ℓ =-10 γ =100, ℓ =-100 γ =100, ℓ =-1000

3 x 3 x 3 x
xpm xpm xpm
2.5 xcm 2.5 xcm 2.5 xcm
2 2 2
State

State

State
1.5 1.5 1.5

1 1 1

0.5 0.5 0.5

0 0 0
0 10 20 30 0 10 20 30 0 10 20 30
time [s] time [s] time [s]

1 1 1
θ θ θ
k k k
0 0 0
Parameter

Parameter

Parameter
−1 −1 −1

−2 −2 −2

−3 −3 −3
0 10 20 30 0 10 20 30 0 10 20 30
time [s] time [s] time [s]
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