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AC-18,KO. 5,
OCMBER
419
1973
AND
I. I~TRODUCTIOS
HE model reference adaptive control (MRAC) technique has been a popu1a.r approa.ch t.0 the control of
systems operating in the presence of parameter a.nd environmental variations. I n such a scheme, t,hedesirable
dynamiccharacteristics of the pla.nt are specified in a
reference model and the input signal or the cont.rollablc
Parameters of t,he plant are adjusted,continuously or discret.rly, so t>ha.t.its response will duplica.te that of t.he
model as closely as possible. The identification of the plant,
dyna.mic perfornmnce is not necessary and hence a fast
adapt,ation can be achieved.
This paper is concerned 1 ~ t . the
h continuous paramet.er
adapt,ive schemes. Generallyspeaking,t>here
are t.wo
approachcs to thesynt,hesis of this class of NRAC systens.
One is based on t.he minimization of a performance index
[ l ] and the other on a L p p u n o v function [ 2 ] . Each of
theseapproacheshas
its own meritsandlinlitations,
alt,houghmany
modificat,ions ha.ve been suggest.ed t,o
improve them further. A direct contrast. of the merits of
t,hcse drsigns has been briefly ment.ioned in t.he literature
[2], [8] but, a rigorous comparison, especially that from a
perfornlancc viewpoint,, has not. been reported. Hence a
comparative study of the various design rules will be of
great, int.crcst. to the designers who have long been faced
with the difficulty of select,ing a suitable one for certain
applications.
Since there are a1rea.dg some ddailed accounts of the
various design rulesin thc litera.t,ure [17], [lS], only a
PATRICK C. PARKS
11. A BRIEFSURVEY
OF
THE
DESIGIC
RULES
The MRAC system was first designed by t,he performance index minimization met,hod proposed by Whitaker
[ l ]of theM.I.T.InstrumentationLa,boratoryandhas
since t,hen been referred as the M.I.T. design rule. The
performance index is the integral squa.red of the response
error. This rule has been very popular due to itssimplicity
inpracticalimplement,ation,a.lthough
it mayrequirea
largenumber
of semitivitg filtersformult.iparameter
a,djustment.s.An improved design rule with respect to the
speed of response has then been proposed by Donalson
[3], who used a more general performance index than that
of Whitaker, but addit,ional filtersand themeasurement, of
t,he state vectors are required. The need of t,he sensitivity
filterscanbeavoided
by agradient met,hod developed
later on by Dressler [4], or by an accelerated gradient
methodsuggestedbyPrice
[5]. The latter is easier t o
implement. and is capa.ble of achieving faster adaptations
compared with ot.her gradient techniques. Another
cont,ribution to the simplification of the design comes from
the applicat.ion of sensit.ivity analysis by Kokotovic et al.
[29], [25], resulting in a design similar to the M.I.T. rule.
Here,withfurther
approximat,ion,only one sensitivity
filterisrequiredformultiparamet,eradjustment.s.
For
some other particular applications, Winsor [17] has also
modified the 3I.I.T. rule t o reduce the sensit,ivit.y of the
response t,o theloop gain, at the expense of addit,ional instrumentation. All the design rulesmentioned a.re not,
Manuscript received October 24,1972. Paper recommended by however, globally &able and hence the adaptive gain that
G. X. Saridis, Chairman of the IEEE S C S Adaptive and Learning governs the speed of response is limited. A good comproSystem, Pattern Recognition Committee. The work of C. C. Hang
was supported by the Royal Commission for the Exhibition of 1851 mise between t.he &ability and the speed of adaptation
and the British Council.
will have t o be decided by laborious simula.t,ion studies.
The authors are with the Inter-Inst.it,ut,eof Engineering Control,
A recent, cont.ribution by Green [6] hasextended the
University of Warwick, Covent,ry, England.
420
1973
38
k,
Be16,
to
(2)
eTPe
+ X ( s + YELT~VZIZ)~
(3)
BeTPbr
(4
K - K,K,
( 3
where
42 1
P
Om
CM.I.T.)
(DRESSLER)
B. Other D e s i p Rules
We shall next examine the follom-ing rules.
[dl: The pammeter adjustment,law is
1 ) Dressier.
K c = Belr..
(8)
Belr.
+ yc cltd (BelT)
-
(MONOPOLI)
C . Sinru.lation Results
A simulation study of the adaptive response of these
designs has shown t.hat very often the Lyapunov designs
could achieve excellent performance not. attainableby
other rules. -4s an example consider a second-order plant
n-hose gain is t o be adjusted. Referring t o Figs. 1 and 2,
the following values are assumed:
1,
IC,
= 2,
Kc(to) = 0.2.
~
eTPb = el P1.
From thc Appendix, Srction 8 , w ( obtain
R c shall choosc Z ( s ) = 2s
2 (a.s in [lo]) and shall limit
422
IEEE TIWNSACTIONS
1973
IV. A SI-STEMATIC
PERFORMASCE
CONPARISOX
($7)
- K2R?R'TS e l f rlt
(HE criterion)
Some commonly used performance criteria [19], which
include t h r settling t.inw (T,)? integral of squarederror
1
- -~
Jtlel! dt (ITAE criterion)
(ISE). integralof time absolutc error (ITXE). and integral
KRT?
of timr squared error (ITSE)will bc employed t o compare
t.he rcsponsc of thc various designs against tllcir y,-stcm
parameters. This will be studied expcrimentall\- through
computersimulations of twogain adjustmrnt schemes.
The parameters that cannot, be groupedinto the above are
The rrsults will be presented in the form of sinditudrs
fixed at frequency of sinusoidal input = 2.5 c/s, K,(fo)= 0 ,
byapplyinga
dimensional a,nalysis [20] to the system
y = 0 and 0.1.
differential equations such that the quantitics to be inThe performance characteristics obtained are shown in
vestigatedare
expressed in dimensionlcs groups. The
Figs. 4 and 5 . For step inputs, in n-hich case the 3I.I.T.
dimensionlws perfornlance criterion i? dcnotcd bJ- rl
design is always stable, the T , criterion shows aregion
d i l e the dimcnsionlcss system pa.ran1ctc.r is dcnotcd by
where this design is unfavorable since rl may increase or
r?. The performancecha,ractcristics arc dcfinrd inthis
decrease with anincrement in asswhereas the same type of
connection as theplots of a1 against r4.
uncertainty does not appear in the Lyapunov design with
y = 0.1. For sinusoidal inputs, all the four Characteristics
A. First-Order Systems ( X ( s ) j D ( s ) = 1 / ( 1
ST))
for the 1I.I.T.design possess regions of uncertainty over a
In this casr, the dcsigps due t o Drcssler and Price are wide range of r2.Furthermore, ithas already been ensured
identical to thc L ~ ~ ~ U schemes.
I I O V Also, tlw latt cr docs that within the parameter ranges tested, that is a? < 2 5 ,
not. requireanydifferentiators.Hencc
we onl\- need t o this design isoperated below the region of conditional
stabilityaspointedoutbyJames
[15]. These findings
conlparc the 31.1.T. and the Lppunovdcsigns.
extensivesimulationstud>would be
I ) Detern~inisticI?z.pts: Step and sinusoidal inputs arc suggest thatan
enyloJ-rd. I.'rom the dimensional analysis s l ~ n v nin the. necessary in order t o determine a safe and economic value
of a2 t o achieve any specific r1 even though the system is
Appendix. Section B: the follon-ingare dcfincd.
423
TL
20
10
(b)
TI1
1.0
20
IO
lT2
(d 1
x xr. (M.I.T.)
...
<UAFUNOV, J ' 0 )
A A A
(LIRPUNOV, I = a0
operatrdinthestable
region. On t,he other ha.nd, the
similitudes for the Lyapunov designs show a monotonic
decrease of rln7it.h increasing T?.This isa desirable feature.
I n additionthis design can achievevalues of rl not
attainable by the3I.I.T. design. Exanlinat.ions of t,he
effect of changing t.he input signal frequency have also
been conducted. The results, which are too long t o show
1
E [ S e ' dt]
K26A72T
rz = K K , B ' C ~ ~ ~ T(M.I.T. design)
r1 =
K,B'hN2T
(Lyapunov design)
B. SecmdOrder System ( N ( s ) / D ( s ) = 1 / ( 1
+ als + a&))
The five designs described inSection I11 d l be examined here. It is not.ed t,hat while the Lyapunov design
requires one different,iat,or,that. due t o Monopoli docs not
need any.
1 ) Deternzinistic Inputs: The following dimensionless
parameters are defined :
424
1973
!
(LOG.
SCRiE)
Fig. 6. Performancecharacteristics
of first-order s y s t e m with
stochastic inputs. Crit.erion: ISE.
Fig. 7.
HAWG
-rr, k
15.
IO
CI -
..,
x X x (n.1.7.)
ooo
,.
(MONOPOLI)
OR
(LIRPUNOV, '6
(PRICE,
(CHRNGE
=o)
sC= 0.51
...
,..
(LIRWN3V, 1 = dl!
( DRESSLEU)
IN S C ~ L I N G )
c, o((
(CHRNGE
IN SCdLINo)
V. DISCUSSIOK
AND CONCLUSION
The extensive comput.ersimu1at)ionstudy of the various
MRXC designs reveal many interesting properties regarding the perfornmncc of the adaptive systems at different
loop gains and under different input signals. These may be
summarized as follows.
1) Thcl dvsigns t.hat are not assured t o be sta.blc globaily
behaw vcr;v differently when the gain parameter a?varies.
They arc' also found t.o be sensitive to the frequency band
of the input signal; one reason for this is that t.he total
426
CONTROL, OCTOBER
1973
preferred by many designers due to the ease of t.heir implementations should be used wit.h great. caution.
APPENDIXA
A . Lyapunov Design [9]
T h e d a t eequat,ions of the plant, and model are
plant,:
+ bK,K,r
= A0, + bKr.
6,
model: 8,
(A.1)
(A.2)
Define
0, - 0,, X = K -
KX,.
We obtain
Ae
+ bXr.
(A.3)
Choose a V function
eTPe
+ x(X + yKzm)?
(4.4)
where
m = B'eTPbr.
(A.5)
+ P,4)e + 2eTPbXr
+ 2X(X + yK8m)(X+ yK&).
eT(ATP
then V beconles
V
Although the designs investigRted in this paper are only
lox--order gain adjustment schemes! it seems pussiblc that
t.he general obscrvations may hold for higher order systems and for the adjustment of other parameters. At least
for those schemes basedon
thestabilitytheory,the
L p p u n o v function alwa.ys assures global stabilityand
t.hat the convergence rate reduces as the nda.pti5-e gain
increases (the nlasinlunlvalue of -'d/c gives an est.imate of
the convergence rate, see r21]). This paper also assumes a
noise-free system. The important. problem of noisebiasing
action is briefly discussed in the Bppendis.Section C.
On interchanging the roles of the plant and themodel. the
case studied becomes an identification system. Hence this
investigation also reveals the shortconings of those model
reference identification schemes ['Z], [23] based on
gradient methods.
We suggest that the globally stable design rules should
be g i r m prinw considerations on account of their stability
and performance properties. There are many cases xherr
thesc dwign rulcs arr not applicablc and furthcr rcscarch
t.0 rclicvthissituation
i:: neccssary. 1Icanwhile. the
hI.1.T. rulc and other gradient. methods that. have been
(AS)
--=&e - 2XyKn2n1?.
+ PA
[-'1
-2
For example, if
'1
-Q.
(A.8)
that
(A.9)
.I![
Let
[i
Solving (A4.9)?
we obtain
P
Hence, eTPb = el
[;
;I.
+ e*.
427
Te
+e
X,
(K
K,K,)r
(A.10)
BeB,.
(A. 11)
e/(KR)
(A. 12)
rn
r/R
(A.13)
ym
O,/(KR)
(A.14)
( K - K&)/K
(4.15)
t/T.
(A.16)
dX
cl T
-(KK,BR2T)~.y,
KK,BR2T.
(A.18)
~2
is
(A.19)
C
IAT _
- - (K,BRT)c T,.
dl-
(A.21)
Hence,
~2
K,BRT.
(-1.22)
Likewise, dimensionless parameters and performanceindices for ot,her systems and for other inputs arederived.
h ( e )Y2(em,e,).
(A.23)
Patrick C. Parks \vas born in London, England, on Xovember 24, 1930. He received t,he
B.ri. and Ph.1). degrees from Cambridge Univerait.>-,Cambridge,England,
in 1932 and
1970, respectively.
Since 1972 he h.as been Professor of Control
Theory and 1)irector of the Control Theory
Centre at the Ctliversit>- of Jt-arwick,
Coventry, England. Hi- current interests inclrtde stability theor>- and its applications,
dynamics of aircrafttrailingvortices
and
economic modeling. He has been in the C.S..l. on several occa$ions,
b0t.h as an S S F and as an N h d / ~ l ! C \kiting Fello\v.
Profesor Parks is a Fellow of the Institute of _\lathematic3 and its
Applications, an Associate Fellow of the Royal Aeronautical Society
and an Aasociat.eEditor of the IFACjournal dulornalica.
Abstract-A f u l l order adaptive observer is described for observing the state of a single-input single-output observable continuous
differential system with unknown parameters. Convergence of the
observer states to those of the system is accomplished by directly
changing the parametersof the observer using an adaptive law based
upon Lyapunov stability theory. Observer eigenvalues may be freely
chosen. Some restriction is placed upon the system input in that it
must be s a c i e n t l y rich in frequencies in order to insure convergence.
Manuscript received Xovember 1, 19i2. Paper recommended by
I . ISTRODL-CTIOX
Tille