Master Course

ADAPTIVE AND LEARNING CONTROL

NEW LECTURE ROOM:

B14/15
Prof. Dr.-Ing. Michael Schnell
 Prof. Dr.-Ing. Michael Schnell

Professional Career
1984: Diploma in electrical engineering at TH Darmstadt
1990: PhD-Graduation Dr.-Ing. TH Darmstadt
„Force/Torque control for sensor-guided robot systems”
1990 – 1995: Head of R&D business unit “testing machines”
Carl Schenck AG, Darmstadt
1996 – 2009 Full Professor in control engineering and robotics
at the University of applied Sciences Gelsenkirchen

Adaptive and Learning Systems 2

 Contact

Prof. Dr.-Ing. Michael Schnell

Building D16 (Birkenweg 8)
Room 304 (3rd floor)
Telephone: 16-8312
E-Mail: schnell@eit.h-da.de
consultation-hour: Wednesday 1:30 – 2:30 pm

Adaptive and Learning Systems 3

 Module Description
MA01: Advanced Feedback Control / Adaptive and Learning Control

2,5 CP, 2 SWS Lecture, 0 SWS Laboratory

- Formulation of the Adaptive Control Problem

- Classification of Adaptive Control Systems
- Digital Process Modeling and Online Identification using the RLS Method
- Adaptation of Deadbeat Controllers and Controller Design by Pole
Placement
- Dynamic Behavior of Adaptive Control Loops and Configuration Issues
- Motivation for Learning Control and Basic Structure of Learning Control
Loops
- Neural Networks as Memory Blocks for Controller and Process Model in
Learning Control Loops

Adaptive and Learning Systems 4

 Course organization

• Lecture:
Wednesday, 12:00 – 01:30 pm
D17/114

Adaptive and Learning Systems 5

 Course organization

• Lecture notes:
http://www.eit.h-da.de/fachbereich/personen/professorinnen/
prof-dr-michael-schnell/nocache/index.htm

• Username:
• Password:
(please note the case sensitivity!)

Adaptive and Learning Systems 6

 Course organization
Examination
Written examination – 180 minutes
Weight between „state space systems“ and „adaptive and learning systems“: 2
(120min) : 1 (60min)

authorized examination resources (planned):

Lecture notes with handwritten remarks, MATLAB/SIMULINK, pocket calculator

Grading
Lab: certificate of attendance (prerequisite for the exam)

second written examination (exam resit)

At the beginning of the next winter-semester 2011/12

Note: Online-Registration for the examination!

Please refer to the homepage of our department
“Online Prüfungssystem” (on the right side)

Adaptive and Learning Systems 7

References

Adaptive and Learning Systems 8

References

Adaptive and Learning Systems 9

References

Adaptive and Learning Systems 10

References

Adaptive and Learning Systems 12

 References
Åström, K.J., Wittenmark, B.: Simple self-tuning controllers.
Proc. Symposium on Methods and Applications in Adaptive Control (Bochum),
pp. 21–30, 1980.
Åström, K.J.: Theory and application of adaptive control – a survey.
Automatica, 19, 471-86, 1983.
Åström, K.J., Wittenmark, B.: Adaptive Control. 2nd Ed., Reading, Mass.,
Addison-Wesley, 1994.
Aseltine, J.A., Mancini, A.R., Sartune, C.W.: Survey of Adaptive Control Systems. IRE
Transactions on Automatic Control, Vol. 3, No.6, pp.102.2-108, 1958.
Bobál, M., Kubalcik, Ulehla, M.: Auto-tuning of digital PID controllers using recursive
identification. Proc.5th IFAC, Symposium on Adaptive Systems in Control &
Signal Processing, Budapest, pp.384–389, 1995.
Bobál, V., Bohm, J., Fessl, J., Machacek, J.: Digital Selftuning Controllers.
Springer-Verlag, London, 2005.
Caldwell, W.I.: Control System with Automatic Response Adjustment. American
patent, 2,517,081. 1950.
Dorf, R.C., Bishop, R.H.: Modern Control Systems. 10th Ed., Prentice Hall, New
Jersey, 2005.
Isermann, R., Lachmann, K.-H., Matko, D.: Adaptive Control Systems. Prentice Hall
International (UK) Ltd., 1992.
 References (in German)

Brause, R.: Neuronale Netze. B.G. Teubner Verlag, Stuttgart, 1991.

Isermann, R.: Digitale Regelsysteme. Vol.2, 2nd Edition, Springer Verlag, Berlin,
1991.

Lutz, H., Wendt, W.: Taschenbuch der Regelungstechnik. Verlag Harri Deutsch,
Frankfurt a.M., 2005

Ritter, H.J., Martinetz, T.M., Schulten, K.J.: Neuronale Netze. Addison-Wesley, 1990.

Unbehauen, H.: Regelungstechnik I-III. Vieweg Verlag, Braunschweig, 1992.

Heimann, B.; Gerth, W.; Popp, K.: Mechatronik. Komponenten – Methoden –

Beispiele. Fachbuchverlag Leipzig im Carl Hanser Verlag, München/Wien, 3.
Auflage, 2007
 OUTLINE
1. Introduction
• Definition of adaptive and learning control
• Examples
2. Adaptive Control
• Basics
Digital Control systems, Simulation of control systems, System identification
• Survey
Historical background, Classification of adaptive control structures
• Adaption of Compensators
• Adaption of Deadbeat-Controllers
• Adaptation of optimum controller
• Simulation of adaptive control systems
3. Learning Control
• Motivation for learning control
• Basic structures for learning control
• Neural networks for Controller
4. Summary and Outlook
 Learning objectives March 23, 2011

Prior knowledge…
… digital control systems
… MATLAB/SIMULINK

Outline today…
… introduction
• definition
• examples

… review
• digital control systems
 Prior Knowledge

The following items should be known…

… block diagram digital control systems

… D/A- und A/D-Converter
… Sampling element, Hold element
… difference equation
… z-Transformation
… z-Transfer function
 Review Digital Control…
Block diagram of a digital control system:
 Review Digital Control…
signals of a digital control system:
Review
Digital Control…

• Nowadays control systems are implemented on digital computer systems

• The signals of those systems are digital, that means they are time- and
amplitude-discrete

• On the right side the components (process, sensors and actuators) work as
analog systems

• On the left side we see the digital controller (implemented software algorithm)

• In between we see the analog-to-digital-converter respectively the digital-to-

analog-converter
 Review Digital Control…

The figure shows the

relation between analog
and digital signals using
the Impulse function

Transfer function of the

hold element G0(s):

Output signal y*(t):

Output signal y*(t):

 Review
Digital Control…

Definition of z-Transformation from time/Laplace-plane into z-plane with z-

operator: T ⋅s
z=e 0

Example: z-Transformation of the step-funktion σ(t):

0 t<0
σ (t ) = 
1 t≥0

The infinite series kann be written in closed form:

statistics of the course:

exercises: