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Adaptive control
-astrom and witten mark
Topics covered
Introduction
to adapt means to change a
behavior to conform to new
circumstances.
An adaptive controller
a controller that can modify its
behavior in response to the changes
in dynamics of the processes and the
disturbances acting on the process.
Contd..
An adaptive controller
a controller with adjustable parameters
and a mechanism for adjusting the
parameters.
The parameters are adjusted to
compensate for the changes in dynamics
of the plant and the disturbances acting
on the plant.
The controller becomes nonlinear because
of the parameter adjustment mechanism
Description
An adaptive control system can be
thought of as having two loops.
One loop is a normal feedback with the
process and the controller.
The other loop is the parameter
adjustment loop.
The parameter adjustment loop is
usually slower than the normal
feedback loop.
Contd..
Change in nature of inputs
Propagation of disturbances along a
chain of unit processes
Nonlinear behavior as in case of complex
chemical or biochemical reaction
Appreciable dead time
Unknown parameters, when control
system for new process is
commissioned.
Effects of process
variations
The standard approach to control system
design is
to develop a linear model for the process for
some operating condition and to design a
controller having constant parameters.
A fundamental property is also that feedback
systems are intrinsically insensitive to
modeling errors and disturbances.
The mechanisms causing variation in process
dynamics and its effect on the performance of
control system is studied in the following
section.
Nonlinear actuators
Flow and speed variations
Flight control
Variation in disturbance
characteristics
Nonlinear actuators
A very common source of variations is that
actuators, like valves have a nonlinear
characteristic.
Let
the static valve characteristics be
0
and let
and
Discussions
Linearizing the system around a
steady state operating point shows
that
the incremental gain of the valve is
f(u), and hence the loop gain is
proportional to f(u).
The system can perform well at one
operating level and poorly at another
Discussions
The controller is tuned to give a good
response at low levels of operating
level.
For higher values of operating level,
the closed loop system even
becomes unstable as can be seen in
fig.3.
Other examples
Flow and speed variations tank
system
Flight Control
Variations in disturbance
characteristics are also discussed for
Ship steering control
Regulation of quality variable in
process
control
Gain Scheduling
Gain scheduling is an adaptive control
strategy, where the gain of the system
is determined and based on its value
the controller parameters are changed.
This approach is called gain scheduling
because
the scheme was originally used to
measure the gain and then change, that
is, schedule the controller to compensate
for changes in the process gain.
Description
The system can be viewed as having
two loops.
an inner loop composed of the process
and the controller
outer loop contains components that
adjust the controller parameters on the
basis of the operating conditions.
regarded as mapping from process
parameters to controller parameters.
It can be implemented as a function or a
table lookup.
Contd..
The concept of gain scheduling originated in
connection with the development of flight
control systems.
In process control,
the production rate-a scheduling variable,
time constants and time delays are inversely
proportional to production rate.
Gain scheduling is a very useful technique
for reducing the effects of parameter
variations.
Advantages and
disadvantages
Advantages:
Parameters can be changed quickly in
response to changes in plant dynamics
very easy to apply
Drawbacks:
It is an open-loop adaptation scheme, with
no real learning or intelligence
The design required for its implementation
is enormous.
Model Reference
Adaptive System
(MRAS)
The quantity
is the sensitivity
derivative of error with respect to the
parameter .
The parameter is the adaptation rate.
It is necessary to make approximation
to obtain the sensitivity derivative.
The MIT rule can be regarded as a
gradient scheme to minimize the
squared error e2.
Description of the
process
Controller Structures
The process is controlled by a
controller that has adjustable
parameters.
Underlying design problem:
It is assumed that there exists some
kind of design procedure that makes it
possible to determine a controller that
satisfies some design criteria, if the
process and its environment are
known.
Adaptation (adjustment) of
controller parameters
Applications of Adaptive
control
aerospace
process control
ship steering
robotics and automotive
biomedical systems.