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    TD Commande Adaptative ISSATK

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    samilass
    The document describes two methods for second order system adjustment in model reference adaptive systems. The first method uses a single parameter adjustment with adaptation laws for parameter l1. The second method uses three parameters (l1, l2, m1) with separate adaptation laws for each parameter. Both methods are illustrated with block diagrams showing the process model, reference model, control law, and parameter adaptation laws. The document also provides links to MATLAB codes and simulations for various adaptive control techniques.

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    TD Commande Adaptative ISSATK

    Uploaded by

    samilass
    87 views5 pages
    The document describes two methods for second order system adjustment in model reference adaptive systems. The first method uses a single parameter adjustment with adaptation laws for parameter l1. The second method uses three parameters (l1, l2, m1) with separate adaptation laws for each parameter. Both methods are illustrated with block diagrams showing the process model, reference model, control law, and parameter adaptation laws. The document also provides links to MATLAB codes and simulations for various adaptive control techniques.

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    TD-commande-adaptative-ISSATK

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    The document describes two methods for second order system adjustment in model reference adaptive systems. The first method uses a single parameter adjustment with adaptation laws for parameter l1. The second method uses three parameters (l1, l2, m1) with separate adaptation laws for each parameter. Both methods are illustrated with block diagrams showing the process model, reference model, control law, and parameter adaptation laws. The document also provides links to MATLAB codes and simulations for various adaptive control techniques.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    87 views5 pages

    TD Commande Adaptative ISSATK

    Uploaded by

    samilass
    The document describes two methods for second order system adjustment in model reference adaptive systems. The first method uses a single parameter adjustment with adaptation laws for parameter l1. The second method uses three parameters (l1, l2, m1) with separate adaptation laws for each parameter. Both methods are illustrated with block diagrams showing the process model, reference model, control law, and parameter adaptation laws. The document also provides links to MATLAB codes and simulations for various adaptive control techniques.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    1.1.

    MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

    3. Second Order System Adjustment


    s+5
    Process : G(s) =
    s2 + 4s + 3
    s + 10
    Model : Gm (s) = 2
    s + 8s +10
    0 1
    A =
    −3 −4
     
    0
    B =
    1
     
    0 1
    Am =
    −10 −8
     
    0
    Bm =
    1
     
    Control law : u(t) = m1 uc − l1 0 x(t)
         
    de 0 1 0 0 0
    = e+ x(t) + uc
    dt −10 −8 7 − l1 0 m1 − 1
    Ψ = [−x uc ]
    θ = [l1 m1 ]T
       
    l˙1 γ1 xe
    =
    ṁ1 −γ2 uc e

    Figure 1.13: second order system adjustment block diagram

    At
    γ1 = 0.01, γ2 = 0.4

    Mohamed Mohamed El-Sayed Atyya Page 36 of 40


    1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

    Mohamed Mohamed El-Sayed Atyya Page 37 of 40


    1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

    4. Second Order System Adjustment (another solution)


    s+5
    Process : G(s) =
    s2 + 4s + 3
    s + 10
    Model : Gm (s) = 2
    s + 8s +10
    0 1
    A =
    −3 −4
     
    0
    B =
    1
     
    0 1
    Am =
    −10 −8
     
    0
    Bm =
    1
     
    Control law : u(t) = m1 uc − l1 l2 x(t)
         
    de 0 1 0 0 0
    = e+ x(t) + uc
    dt −10 −8 7 − l1 4 − l2 m1 − 1
    Ψ = [−x − ẋ uc ]
    θ = [l1 l2 m1 ]T
       
    l˙1 γ1 xe
     l˙2  =  γ2 ẋe 
    ṁ1 −γ3 uc e

    Figure 1.14: second order system adjustment block diagram

    At
    γ1 = 0.01, γ2 = 0.8, γ2 = 0.5

    Mohamed Mohamed El-Sayed Atyya Page 38 of 40


    1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

    Mohamed Mohamed El-Sayed Atyya Page 39 of 40


    1.2. MATLAB CODES AND SIMULATION Adaptive Control

    1.2 MATLAB Codes and Simulation


    1 http://goo.gl/2nhYkk
    2 http://goo.gl/RqIX4D
    3 http://goo.gl/rOCcS6
    4 http://goo.gl/Bx5Tnn
    1 http://goo.gl/trRRzu
    2 http://goo.gl/QrSHSW
    1 http://goo.gl/hdrI90
    2 http://goo.gl/DDXsR9
    3 http://goo.gl/G67l2g
    4 http://goo.gl/QJWWvw
    1 http://goo.gl/YzgkEL
    2 http://goo.gl/86ZvGi
    3 http://goo.gl/cSxmF3
    4 http://goo.gl/MW7zTw

    1.3 References
    1. Karl Johan Astrom, Adaptive Control, 2nd Edition.

    2. Leonid B. Freidovich, lecture 12.

    1.4 Contacts
    mohamed.atyya94@eng-st.cu.edu.eg

    Mohamed Mohamed El-Sayed Atyya Page 40 of 40

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