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Adaptive Control
It is understood in the previous chapters that task of controller design for a process is very much
domain specific. First the model of the process is linearized around a certain nominal point and the
controller is designed on the basis of that linearized model and finally implemented on the process.
Hence, the controller is applicable for certain domain around the nominal operating point around
which the model has been linearized. However, if the process deviates from the nominal point of
operation, controller will lose its efficiency. In such cases, the parameters of the controller need to
be re-tuned in order to retain the efficiency of the controller. When such retuning of controller is
done through some “automatic updating scheme”, the controller is termed as adaptive controller.
The technique can be illustrated with the following figure.
One of the most popular adaptive control techniques is gain scheduling technique. The overall gain
of an open loop process is usually given as
(V.33)
It is customary to keep the overall gain constant. In case of changes in the process (or valve
characteristics or measuring element), Kc should be tuned in such a manner that overall gain
remains constant.
(V.34)
The above is called the gain scheduling control law.
When the process is poorly known, one cannot rely much on the correctness of the value of KÞ In
such cases, the self-adaptive control may be helpful. A self adaptive controller optimizes the value of
certain objective function (criterion) in order to obtain updated controller parameters. Two examples
of self adaptive controllers are Model Reference Adaptive Control (MRAC) and Self-Tuning Regulator
(STR)
V.7.1 Model Reference Adaptive Control
The following figure shows the schematic of a Model Reference Adaptive Controller.
Fig. V.16: Model Reference Adaptive control
It contains of two loops. The inner loop contains the regular feedback mechanism whereas the outer
loop contains an ideal reference model which the process needs to follow. The process and model
outputs are compared and the error function is minimized through a suitable optimization routine in
order to arrive at the re-tuned controller parameters.
What is meant by linear least square algorithm?
Linear least squares is the least squares approximation of linear functions to data. It is a set of
formulations for solvingstatistical problems involved in linear regression, including variants for
ordinary (unweighted), weighted, and generalized (correlated) residuals.
Define process modeling
A mathematical model of a process is a set of differential and algebraic equations whose

solution yields the static and dynamic behavior of the process. ... A mathematical model is
useful for various purposes in the process industries.
Define controlled variable, manipulated variable and load variable in process control.
Controlled variable: it is the quantity or condition of the control system which is directly measured
and controlled.
Load variable: the load variables of a process are all other independent variables except the control
variable and manipulated variable.
Manipulated variable: it is the quantity or condition which is varied by the automatic controller so
as to affect the value of control variable.
How the mathematical modeling of higher order process obtained?

The mathematical modeling of higher order process are obtained in three ways
a. N first order processes in series
b. Processes with dead time
c. Processes with inverse response.
Difference between batch process and continuous process?

Batch process:
A process in which the materials or work are stationary at one physical location while being treated.
Eg. Thermal type process.
Continuous process:
A process in which the materials or work flows more or less continuously through a plant apparatus
while being treated. EgStorage vessel control.
What is ITAE and when to go for it?

ITAE is integral of the time weighted Absolute error and it is defined as ITAE = t | e(t) | dt.
To suppress errors that persist for long times, the ITAE criterion will tune the controllers better
because the presence of large t amplifies the effect of even small errors in the value of the integral.
What is first order and second order system?

First order system. The system whose input-output equation is a first orderdifferential
equation is called first order system. The order of the differential equation is the
highest degree of derivative present in an equation. First order system contains only one
energy storing element.
Significance of Model-Free Adaptive Control
A Model-Free Adaptive control system has the following properties or features:
• No precise quantitative knowledge of the process is available;

• No process identification mechanism or identifier is included in the system;
• No controller design for a specific process is needed;
• No complicated manual tuning of controller parameters is required; and
• Stability analysis criteria are available to guarantee the closed-loop system stability.
Draw the Single-Loop MFA Control System Structure
Signals:
r(t) – Setpoint, SP
u(t) – Controller Output, OP
y(t) – Process Variable, PV
x(t) – Process Output
d(t) – Disturbances
e(t) – Error, e(t)=r(t)-y(t).
Choosing
1. B
2. B
3. C
4. C
5. A
6. C

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Adaptive Control

The above is called the gain scheduling control law.

V.7.1 Model Reference Adaptive Control

Fig. V.16: Model Reference Adaptive control

What is meant by linear least square algorithm?

Define process modeling

A mathematical model of a process is a set of differential and algebraic equations whose

How the mathematical modeling of higher order process obtained?

Difference between batch process and continuous process?

What is ITAE and when to go for it?

What is first order and second order system?

Significance of Model-Free Adaptive Control

A Model-Free Adaptive control system has the following properties or features:

• No precise quantitative knowledge of the process is available;

Draw the Single-Loop MFA Control System Structure

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