ADAPTIVE CONTROL SYSTEMS

MRAC IV UNIT
BY
Y.BHANUSREE ASST. PROFESSOR

MRAC
MODEL REFERENCE ADAPTIVE CONTROL SYSTEM It can be considered as an ADAPTIVE SERVO SYSTEM. It consists of two loops inner loop &outer loop It consists of a reference model in outer loop. Ordinary feed back is called inner loop. Parameters are adjusted on basis of feedback from the error. Error is the difference between produced output & reference model value.

Adjustment of system parameters in a MRAC can be obtained in two ways.

GRADIENT METHOD (MIT RULE) LYPNOV STABILITY THEORY

MODEL

YM

CONTROLLER

PARAMETERS ADJUSTMENT MECHANISM

UC CONTROLLER

U PLANT

BLOCK

DIAGRAM OF MRAC

MRAC IS COMPOSED OF
Plant containing unknown parameters Reference model Adjustable parameters containing control law or loss law Ordinary feed back loop

MIT RULE
It is developed by INSTRUMANTATION LABORATORY at MIT. To consider MIT rule we use a closed loop response in which controller has one adjustable parameter . The desired closed loop response is specified by a model whose output is ym. Then error e= ym y. (y is original output).

Error criteria selected here is

J()=1/2 (e)2
And this loss function is to be minimized to make the system controlled. To achieve this the parameters are changed in the direction of negative gradient of J.

d = - J = - e e dt d

This is called GRADIENT or MIT rule.

=adaptation gain derivative(informs how error is influenced by

e/ = sensitivity

The loss function can also be chosen as J()=|e| d = - e sign e [GRADIENT METHOD] dt first MRAC is implemented by this function d = - sign e sign (e) dt [ sign-sign algorithm] used in telecommunication where simple implementation & fast computing are required

For multivariable systems

is considered as vector
e/ is considered as gradient of the error with respect to the parameter

APPLICATIONS FOR MIT RULE

ADAPTATION OF A FEED FORWARD GAIN MRAS FOR A FIRST ORDER SYSTEM

ADAPTATION OF A FEED FORWARD GAIN

PROBLEM :Adjustment of feed forward gain
ASSUMPTIONS:
Process is linear with the transfer function KG(s) G(s) is known K is unknown parameter DESIRED CONDITION: Transfer function Gm(s) should be equal to KoG(s) Ko is given constant

MODEL

Ym

KOG(S)

-/S

+
UC U
PROCESS

KG(S)

MRAC FOR ADJUSTMENT OF FEEDFORWARD GAIN BY MIT RULE

The constant k for this plant is unknown. However, a reference model can be formed with a desired value of k, and through adaptation of a feedforward gain, the response of the plant can be made to match this model. The reference model is therefore chosen as the plant multiplied by a desired constant ko .

The cost function chosen here is,

The error is then restated in terms of the transfer functions multiplied by their inputs.

As can be seen, this expression for the error contains the parameter theta which is to be updated. To determine the update rule, the sensitivity derivative is calculated and restated in terms of the model ouput:

Finally, the MIT rule is applied to give an expression for updating theta. The constants k and ko are combined into gamma.

To tune this system, the values of ko and gamma can be varied.

NOTES ON DESIGN WITH MIT

It is important to note that the MIT rule by itself does not guarantee convergence or stability. An MRAC designed using the MIT rule is very sensitive to the amplitudes of the signals. As a general rule, the value of gamma is kept small. Tuning of gamma is crucial to the adaptation rate and stability of the controller.

IF G(S)=1/S+1 UC is sinusoidal signal with frequency 1 rad/s K=1 K0=2 Vary values of =0.5,1,2 We can observe the output approaches the model output at =1

simulation results

OBSERVATIONS FROM GRAPH:

Convergence rate depends on adaptation gain . Reasonable value of has to be selected .

Applications: In robots with unknown load. CD player where sensitivity of laser diode is not known.

MRAC FOR A FIRST ORDER SYSTEM

Process dy = ay+ bu dt dym = amym+bmuc dt U(t)=1Uc(t)- 2 Y(t)

Model

Controller

1 & 2 are 2 adjustable parameters

LYAPUNOV THEOREM
ALGORITHM FOR LYAPUNOV THEORY Derive differential equation for the error e=y-ym. We attempt to find lyapunov function & an adaptation mechanism such that the error will go to zero. We find dv/dt is usually only negative semi definite .so finding error equation & lyapunov function with a bounded second derivative . It is to show bounded ness & that error goes to zero. To show parameter convergence ,it is necessary to impose further conditions ,such as persistently excitation and uniform observability

MODEL KOG(S) UC

YM

e -/S

+
PROCESS KG(S) Y

B. DIAG FOR FEED FORWARD GAIN CONTROL USING LYAPUNOV RULE

The error equations are

The value of dv/dt is <=0 [which is ve semi definite] As time derivative of Lypanov function is negative semi definite. By using lemma of lypanov we can show error goes to zero.

REFERENCES
http://www.control.hut.fi/Kurssit/AS-74.185/luennot/lu5ep.pdf http://www.control.hut.fi/Kurssit/AS-74.185/luennot/lu6ep.pdf http://www.control.lth.se/~FRT050/Exercises/ex4sol.pdf http://www.control.lth.se/%7EFRT050/Exercises/ex5sol.pdf http://www.igi.tugraz.at/helmut/Presentations/AdaptiveControl.html http://www.irs.ctrl.titech.ac.jp/~dkura/ic2004/lec405.pdf

http://www.irs.ctrl.titech.ac.jp/~dkura/ic2004/lec406.pdf
http://mchlab.ee.nus.edu.sg/Experiment/Manuals/EE5140/adap1.pdf http://www.rcf.usc.edu/~ioannou/RobustAdaptiveBook95pdf/Robust_Adaptive_Con trol.pdf