Adaptive Control based on Explicit Criterion Minimization
1980 (English)Report (Other academic)
A common approach to regulator design is to define an objective function, which is minimized with respect to adjustable regulator parameters. Here we discuss how such objective functions can be minimized on-line, thus providing adaptive control. Such an approach to adaptive control has its roots in early contributions to learning systems, and it is here further developed and discussed in the light of the recent development of the field. A general algorithm is given and special attention is paid to minimization of quadratic criteria. A key problem is to obtain information about the system dynamics in order to compute the derivatives of the criterion with respect to the regulator parameters. It is shown that the self-tuning regulator is obtained as a special case, corresponding to a particular quadratic criterion and a particular way of estimating the system dynamics. Explicit ways using instrumental variables techniques based on extra injected noise are also discussed. A specific feature of the algorithm is that it does not utilize specific knowledge about how to calculate the optimal regulator. The algorithm is the same for minimum phase as well as for non-minimum phase systems.
Place, publisher, year, edition, pages
Linköping: Linköping University , 1980. , 27 p.
LiTH-ISY-I, ISSN 8765-4321 ; 401
Adaptive control, Optimization, Identification, On-line operation
IdentifiersURN: urn:nbn:se:liu:diva-104522OAI: oai:DiVA.org:liu-104522DiVA: diva2:697320