Adaptive Control Homework 05 Pole-Placement Design and Indirect STR

Due date: 5/12/2016

P1. Consider the system y (t ) − 0.5 y (t −=
1) 0.6 u(t − 9) + 0.2 u(t − 10)
(a) Determine the polynomials A(q), B(q), A*(q), B*(q) in the representation
A( q) y (t ) = B( q) u(t )
and
( q −1 ) y ( t ) B * ( q − 1 ) u ( t − d 0 )
A*=
(b) Formulate the linear regression equation for RLS estimates of the model
parameters.
(c) How many sampling periods are required for convergence of the model
parameters?
P2. Consider a process
y (t ) =−a1 y (t − 1) − a2 y (t − 2) + b0u (t − 1) + b1u (t − 2)
− b0v (t − 1) − b1v (t − 2)
with parameters [a1, a2, b0, b1]=[ -1.4459, 0.6672, 0.1172, 0.08118 ].
Select a desired closed-loop system described by
y=
m (t ) am1 ym (t − 1) − am 2 ym (t − 2) + bm 0uc (t − 1)
where uc and ym are the command and the desired output respectively.
(a) Neglect the disturbance and design a controller in which the stable zero of process
model is canceled.
(b) Neglect the disturbance and design a controller in which no zero of process model
is canceled. Choose a proper delay d0.
(c) Simulate above designs for a square wave command of amplitude 1 and period of
50 sampling periods for disturbance free case. Plot y(t), uc(t), u(t) and estimates of
process model parameters vs. time t.
(d) Same as (c) except that at time t = 40 a step disturbance with amplitude of 0.1 is
applied.
(e) Compare the tracking performance, ringing of input of the two designs for (c) and
(d). What are effects of disturbance on the performance of the controllers?

P3. Consider a process

y (t ) =−a1 y (t − 1) − a2 y (t − 2) + b0u (t − 1) + b1u (t − 2)
− b0v (t − 1) − b1v (t − 2)
In which parameters { a1, a2, b0, b1 } are unknown constants.
Choose a proper desired closed-loop system
y=m (t ) am1 ym (t − 1) − am 2 ym (t − 2) + bm 0uc (t − 1)
where uc and ym are the command and the desired output respectively.
(a) Neglect the disturbance and design an indirect STR in which the stable zero of
 process model is canceled.
(b) Neglect the disturbance and design an indirect STR in which no zero of process
model is canceled. Choose a proper delay d0.
(c) Simulate above designs using following process parameters
[a1, a2, b0, b1]=[-1.4459, 0.6672, 0.1172, 0.08118].
Choose proper initial guess of above parameters. The command is a square wave
of amplitude 1 and period of 50 sampling periods. At time t = 40 a step
disturbance with amplitude 0.1 is applied to the system. Plot y(t), uc(t), u(t) and
estimated parameters vs. t. Examine the effects of the disturbance on performance
of your controller. Compare the tracking performance, ringing of input and
disturbance rejection of the two designs. Discuss on the effect of time delay on the
performance of the adaptive controller.

P4. (a) Consider the indirect STR (without zero cancellation) in P2 and neglect the
disturbance. Modify your simulation program so that the parameters of the process are
reduced by 20% from their true values starting from time 40 and back to original
values at time 80. Investigate experimentally how well the adaptive system can adapt
to the parameter variations. (b) Introduce a proper forgetting factor (λ<1) and
compare the performance with that without forgetting factor (λ=1).