Schedule: Tuesday, Thursday 4:30pm-5:48pm 139 Caldwell
Please note: The official web
page of the course is developed on Carmen.
Registered students may access all the additional information on the
course there, including notes, homework sets, solutions, and the update
To give a broad (although necessarily incomplete) overview of adaptive
control for linear and nonlinear systems. The focus of the course is not on giving a painfully
detailed description of several techniques, rather on
issues in the analysis and design of adaptive control systems.
Adaptive control for linear and nonlinear systems. Adaptive observers.
Model reference adaptive control. Convergence and stability of adaptive
systems. Robustness issues and robust redesign. Manifolds of slow
adaptation, and two-time scale analysis. Adaptive backstepping design
for nonlinear systems. Applications.
EE750 and EE754
- P. Ioannou and J. Sun. Robust
Adaptive Control. Prentice Hall, Upper Saddle River, NJ, 1996.
- S.S. Sastry and M. Bodson. Adaptive Control:
Stability, Convergence, and Robustness, Prentice-Hall, Upper Saddle
River, NJ, 1989.
- A. Isidori, L. Marconi, and A. Serrani, Robust
Autonomous Guidance. An Internal Model Approach. Springer-Verlag,
Grading: Homework 40%
, Take-home final 60%.
- E. Panteley, A.Loria.
and A.R. Teel. Relaxed persistency of excitation for uniform asymptotic
stability. IEEE Transactions on Automatic Control, 46(12):1874-1886,
- M. Krstic. Invariant manifolds and asymptotic properties of
adaptive nonlinear stabilizers. IEEE Transactions on Automatic Control,
41(6):817 - 829, 1996.
- P. Ioannou and P. Kokotovic. Robust redesign of adaptive control.
IEEE Transactions on Automatic Control, 29(3):202- 211, 1984.
- B. Riedle and P. Kokotovic. Integral manifolds of slow
adaptation. IEEE Transactions on Automatic Control, 31(4):316- 324,
- R. Ortega and Y. Tang. Robustness of adaptive controllers. A
survey. Automatica, 25(5):651-677, 1989.
- M.W. Spong and R. Ortega. On adaptive inverse dynamics control of
rigid robots. IEEE Transactions on Automatic Control, 35(1):92-95, 1990.
- I. Kanellakopoulos, P.V. Kokotovic, and A.S. Morse. Systematic
design of adaptive controllerr for feedback linearizable systems. IEEE
Transactions on Automatic Control, 36(11):1241-1253, 1991.
- M. Krstic, I. Kanellakopoutos, and P. V. Kokotovic. Adaptive
nonlinear control without over-parameterization. Systems & Control
Letters, 19(3):177-185, 1992.
- M. Krstic and P. V. Kokotovic. Control Lyapunov functions for
adaptive nonlinear stabilization. Systems & Control Letters,
- H.K. Khalil. Adaptive output feedback control of nonlinear
systems represented by input-output models. IEEE Transactions on
Automatic Control, 41(2):177-188, 1996.
- Overview of Adaptive
Control Systems. Direct and indirect adaptive control. The
principle of certainty-equivalence.
- Advanced tools for
stability of non-autonomous nonlinear systems. Definitions.
Converse Lyapunov theorems. LaSalle/Yoshizawa theorem. Passivity
theory. Zero-state detectability.
Positive real and strictly positive real transfer functions.
- Stability of
adaptive control systems. The role of the persistency of
excitation condition. Uniform observability. Exponential convergence
vs. exponential stability
and uniform asymptotic stability.
- Adaptive observers for
linear systems. Systems in adaptive observer form. Filtered
- Model reference adaptive
control. Paramterization of the certainty-equivalence
controller. MRAC schemes for linear systems with relative degree
one and two. Uniform global asymptotic stability of MRACs: uniform
persistency of excitation condition .
- Adaptive controllers for
nonlinear systems. Adaptive backstepping. Design with
Tuning functions method. Output-feedback design.
- Geometric theory of
adaptive systems. Invariant manifold techniques. Slow
adaptation.Two-time scales and averaging.
- Robust redesign of
adaptive control systems. Robustness of adaptive systems.
Dead-zone and projection-based
- Selected topics.
The adaptive regulator problem. Adaptive internal model design.
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