Introduction to some fundamental issues in controlling systems with uncertain or unknown parameters, or time-varying systems. Analysis of some "classic" indirect control schemes and a modern indirect one.
Introduction to adaptive control. Off-line and online methods, direct and indirect methods. Decoupling: recursive identification methods, stabilization and control of discrete-time LTI systems. Modern direct methods: VRFT.
The role of adaptive control in automation engineering: insufficiency of the basic model-based closed-loop control scheme; the need for robustness, adaptation to uncertain systems or systems that change in time. Classic adaptive schemes, e.g. gain scheduling. Off-line vs. online adaptive control. Direct vs. indirect adaptive control schemes.
Recursive identification schemes: recursive least squares, exponentially weighted LS and their properties. Classic schemes for stabilization, control, and reference following of discrete-time LTI systems. Indirect online methods: decoupling the problem of robust control as a tool for the design of non-linear controllers. Modern direct methods: Virtual Reference Feedback Tuning.
Astrom & Wittenmark, Adaptive Control 2nd. ed., Dover
Traditional lectures. Blackboard and chalk.
Written test and oral exam.