Gain Programmed

Adaptive Control
Presented by
Shivani Munishwar
Parikshit Pande

Under the guidance of

Dr. Sameer Wagh
 01
Introduction and
02
Controller Design in
Overview GPAC1.
2.
System Modeling
Control Objective
1. Introduction and Purpose 3. Controller Structure Selection
2. Overview of GPAC 4. Gain Initialization
3. Importance of Adaptive Control 5. Gain Scheduling
6. Stability Analysis

03
Applications of 04
conclusion
GPAC 1.
2.
Robotics
Aerospace and Aviation
1.
2.
Key Points Recap
Benefits of GPAC
3. Manufacturing and 3. Future Potential and
4. Industrial Processes Advancements
5. Power Systems 4. Conclusion
 introductio
• Gain Programmed Adaptive Control
n
(GPAC) in control systems
• Adaptive control adjusts parameters
based on system behavior
• GPAC overcomes limitations of
traditional adaptive control techniques
• GPAC incorporates gain scheduling for
adaptive adjustment of controller gains
• Goal: Improve stability, robustness,
and adaptability in control systems
In feedback control system, the gain of controller is obtained at steady state condition of the
system. The control valve or any other control components may exhibit a non-linear
characteristic which will change the value of the gain of controller. The gain programmed
adaptive control mechanism maintain the total gain of the overall system constant by
adjusting the auxillary variable. The block diagram of the programmed adaptive control
system is shown in Fig.
Where KC, KV, KP, and KH are the gains of controller, control valve, process, and measuring
element respectively. The open loop gain is given by Eq
 Overview of
Adaptive
i.
Control
Adaptive control is a technique used to adjust the parameters of a
controller in real-time based on the dynamic behavior of the system.

ii. The main goal of adaptive control is to improve system

performance, stability, and robustness in the presence of
uncertainties or changes in the system.

iii. Traditional control approaches rely on fixed controller gains, which

may not be optimal under varying operating conditions.

iv. Adaptive control techniques enable the controller to adapt and

optimize its parameters to suit the changing system dynamics.

v. By continuously monitoring and adjusting the controller, adaptive

control allows for improved performance and better handling of
disturbances and uncertainties in the system.
• Limitations of traditional adaptive
control techniques
• Challenges in achieving stability and
robustness in dynamic systems

Need for Gain

Programmed Adaptive
Control
Introduction to Gain Programmed Adaptive
Control (GPAC)

1. Overview of GPAC as a control technique

2. Utilizing gain scheduling for adaptive
adjustment of controller gains
 0 Gain
Scheduling

1
1.Linear
Interpolation
2. Look-Up
•

•
Definition and role of gain
scheduling in GPAC
Methods for changing
controller gains based on
system conditions

Tables:
3. Fuzzy Logic:
 Gain Scheduling
• Gain scheduling is a common method used in GPAC to adjust the
controller gains based on the system's operating conditions or
parameters.
• The gain scheduling technique defines a relationship between the
system's operating point or a set of parameters and the corresponding
controller gains.
• By utilizing gain scheduling, the adaptive mechanism can select the
appropriate gains for different regions or operating points of the
system, allowing for improved control performance over a wide range
of system conditions.
 Adaptive Control Loop

In Gain Programmed Adaptive Control (GPAC), the adaptive control loop consists of several key
components working together to achieve adaptive control. Let's examine each component:

 Plant/System:
1. The plant or system represents the dynamic process or system being controlled.
2. It can be a physical system, a manufacturing process, or any other system that requires
control.
 Adaptive Mechanism:
1. The adaptive mechanism is the core of GPAC.
2. It monitors the system's behavior and adjusts the controller gains in real-time.
3. The adaptive mechanism can utilize gain scheduling methods to determine the appropriate
gains for the current system state.
 Controller:
1. The controller is responsible for generating control signals to manipulate the system's
behavior.
2. In GPAC, the controller's gains are adaptively adjusted based on the system's operating
conditions.
 Performance Evaluation:
1. The performance evaluation component assesses the performance of the control system.
2. It may involve measuring parameters such as tracking error, stability, or robustness.
3. The evaluation provides feedback to the adaptive mechanism, allowing it to fine- tune the
controller gains.

The adaptive control loop continuously operates, with the adaptive mechanism dynamically
adjusting the controller gains to optimize system performance. This adaptive loop enables
GPAC to adaptively control the system under changing conditions.
 Controller Design in GPAC
The design of the controller in Gain Programmed Adaptive Control (GPAC) plays a crucial role in
achieving effective adaptive control. Here are the key aspects of controller design in GPAC:

Selection of Controller Gain Scheduling

Gains: Parameters:
1. GPAC requires predefined sets of controller
1. The controller gains determine the
response and behavior of the gains for different operating conditions.
controller. 2. The gain scheduling parameters define the
2. The selection of appropriate gains is regions or conditions under which specific
essential for achieving desired gain sets should be used.
performance and stability. 3. These parameters can be based on system
3. The gains can be initially set based on parameters, such as temperature, speed,
system analysis or design or other relevant variables.
specifications.
 Controller Structure:
1. The structure of the controller depends on the specific control problem and the
dynamics of the system.
2.It can range from simple PID (Proportional-Integral-Derivative) controllers to
more complex model-based controllers.

 Stability and Robustness Analysis:

1. The controller design should undergo stability and robustness analysis to ensure
system stability and performance under various operating conditions.
2. Techniques such as control theory, stability analysis, and simulation can be
employed to assess the controller's stability and robustness.

By carefully designing the controller in GPAC, considering appropriate gains, gain

scheduling parameters, and stability analysis, we can optimize the control system's
performance and adaptability.
 Adaptive Mechanism

Gain i. The adaptive mechanism continuously monitors

the system's behavior and operating conditions.
Adjustment ii. It determines whether the current controller gains
: are optimal for observed system dynamics.

i. If the adaptive mechanism detects a mismatch between

the current gains and the desired system performance, it
initiates a gain update process. Gain
ii. The gain update process adjusts the controller gains to Update:
improve system performance.
Adaptatio i. The adaptation algorithm calculates the updated gains
n based on the observed system behavior and the
predefined gain scheduling parameters.
Algorithm ii. This algorithm takes into account factors such as
system inputs, outputs, and error signals to determine the
: appropriate gain adjustments.

i. The adaptive mechanism ensures that the gain Converg

adjustments do not lead to instability or erratic
behavior. ence and
ii. Convergence and stability analysis are performed
to validate the updated gains and ensure system
Stability:
stability and robustness.
 Performance Evaluation
Performance evaluation is an essential aspect of Gain Programmed Adaptive Control (GPAC) to
assess the effectiveness of the adaptive control system. Let's explore the key metrics used in
performance evaluation:

2. Tracking 4. Performance
1. Stability 3. Robustness
Error Indices
 Advantages of GPAC
1. GPAC incorporates gain scheduling to dynamically adjust controller gains, improving stability in the presence of
varying system dynamics and uncertainties.
2. By adapting the controller gains based on the system's behavior, GPAC enhances the control system's robustness
against disturbances and parameter variations.
3. GPAC allows the control system to adapt to changes in the system's operating conditions, providing optimal
performance across a wide range of scenarios.
4. Gain scheduling in GPAC enables effective handling of nonlinearities in the system, providing more accurate
and reliable control.
5. GPAC continuously adjusts the controller gains in real-time, allowing for immediate response and adaptation to
dynamic system behavior.
6. GPAC simplifies the design process by focusing on gain adjustments rather than complex model identification or
parameter estimation techniques.
7. GPAC can be implemented using various gain scheduling methods, such as linear interpolation, look-up tables,
or fuzzy logic, making it accessible and practical for different control systems.
Challenges in GPAC and Future
Directions
1. Accurate system identification is essential for effective GPAC implementation.
Improvements in system identification techniques can enhance the adaptability and
performance of GPAC.

2. Real-time implementation of GPAC can be challenging, especially in complex control

systems. Developing efficient algorithms and hardware solutions is crucial for
seamless integration of GPAC in real-time applications.

3. Extending GPAC to handle highly nonlinear systems is an area of ongoing research.

Developing robust gain scheduling strategies for nonlinear systems can expand the
applicability of GPAC.

4. Further advancements in the design of the adaptive mechanism can enhance the speed
and accuracy of gain adjustments, leading to improved system performance.

5. Combining GPAC with machine learning techniques, such as reinforcement learning or

neural networks, can open up new possibilities for adaptive control in complex
systems.

6. Exploring GPAC in the context of multi-agent systems, where multiple adaptive

controllers interact and cooperate, can lead to enhanced control capabilities and
coordination.
 Applications of GPAC
01 02 03 04
Aerospace and Manufacturing and
Robotics Power Systems
Aviation Industrial Processes

05 06 07 08
Autonomous Biomedical Environmental Monitoring
Process Control
Vehicles Engineering and Control

09 Communication Network 10 Smart Grids

Conclusion  Gain Programmed Adaptive Control (GPAC) provides a powerful
approach to achieve adaptive control in dynamic systems. By dynamically
adjusting the controller gains based on the system's behavior, GPAC offers
improved stability, robustness, and adaptability.

 We explored the key components of GPAC, including the adaptive

mechanism and gain scheduling methods. Performance evaluation metrics
were discussed to assess the effectiveness of GPAC in achieving desired
control outcomes.

 Furthermore, we highlighted the advantages of GPAC, such as improved

stability, enhanced robustness, adaptability to changing conditions, and
practical implementation. GPAC finds applications in diverse industries,
including aerospace, automotive, robotics, process control, power systems,
biomedical engineering, and autonomous systems.

 While there are challenges to address, such as system identification and

real-time implementation, the future of GPAC holds promising
opportunities. Advancements in system identification, adaptive mechanism
design, integration with machine learning, and exploration of multi-agent
systems will further enhance GPAC's capabilities.
b
Thank you !!