Adaptive Control

(3-0-0-3)

CMPE Degree: This course is Not Applicable for the CMPE degree.

EE Degree: This course is Not Applicable for the EE degree.

Lab Hours: 0 supervised lab hours and 0 unsupervised lab hours.

Technical Interest Group(s) / Course Type(s): Systems and Controls

Course Coordinator:

Prerequisites: ECE 6550

Catalog Description

Methods of parameter estimation and adaptive control for systems with
constant or slowly-varying unknown parameters. MATLAB design projects
emphasizing applications to physical systems.

Textbook(s)

Robust Adaptive Control

Course Outcomes

Not Applicable

Strategic Performance Indicators (SPIs)

Not Applicable

Topical Outline

1. Lyapunov Stability Theory
a. Invariant Set Theorems
b. Barbalat’s Lemma
c. SPR Lemma
d. Nonlinear Time-Invariant and Time-Varying Systems
2. Parameter Estimation
a. Estimation Error Criteria
b. Gradient Methods
c. Least-Squares Methods
3. Model Reference Adaptive Control
a. Scalar Case
b. State Feedback Design
c. Output Feedback Design
4. Robust Adaptive Control
a. Convergence Guarantees
b. Instability Phenomena
c. Modifications for Robustness
5. Adaptive Control of Nonlinear Systems (Additional Topics)
a. Systems with Deadzone, Backlash or Hysteresis
b. Neuro-Adaptive Control
c. Adaptive Control via Linearization
d. Adaptive Control via Backstepping
e. Concurrent Learning
f. Repetitive Control / Iterative Learning Control