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  • 6:33 PM, Monday, 18 Oct 2021

Course Postgraduate
Semester Electives
Subject Code AVC863
Subject Title Adaptive Control


Introduction: Parametric models of dynamical systems, Adaptive control problem Real time parameter estimation: Least squares and regression models, Estimating parameters in Dynamical Systems, Experimental conditions, Prior information, MLE, RLS,Instrument variable method.

Deterministic Self tuning regulators (STR): Pole placement design, Indirect self tuning regulators, Continuous time self tuners, Direct self tuning regulators, disturbances with known characteristics.

Stochastic and Predictive Self tuning regulators: Design of Minimum variance and Moving average controllers, Stochastic self tuning regulators, Unification of direct self tuning regulators. Linear quadratic STR, adaptive predictive control.

Model reference adaptive control (MRAS): The MIT Rule, Determination of adaptation gain, Lyapunov theory, Design of MRAS using Lyapunov theory, BIBO stability, Output feedback, Relations between MRAS and STR.

Properties of Adaptive systems: Nonlinear dynamics, Analysis of Indirect discrete timeself tuners, Stabilty of direct discrete time algorithms, Averaging, Application of averaging techniques, Averaging in stochastic systems, Robust adaptive controllers.

Text Books

Same as Reference

  1. 1. K.J. Astrom and B. Wittenmark, Adaptive Control, 2nd ed., Pearson Education, 1995.
  2. Petros Ioannou and Baris Fidan, Adaptive Control Tutorial, SIAM, 2006.
  3. P.A. Ioannou and J. Sun, Robust Adaptive Control, Prentice Hall, 1995.
  4. Sankar Sastry and Marc Bodson, Adaptive Control‐ Stability, Convergence and Robustness, Springer, 2011.
  5. M. Krstic, I. Kanellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control Design, Wiley‐Interscience, 1995.
  6. H.K. Khalil, Nonlinear Systems, Prentice Hall, 3rd ed., 2002.
  7. Jean‐ Jacques Slotine and Weiping Li, Applied nonlinear Control, Prentice Hall,1991.
  8. Torsten Söderström, Instrumental variable estimation, Springer, 1983.
  9. Harold Wayne Sorenson, Parameter estimation: principles and problems, M Dekker, 1980.