ECE 2695: Adaptive
Control (3 Credits, Fall 2008)
Description: Adaptation and learning play an essential role in
biological systems, and these characteristics have been
widely incorporated in modern control systems. This course introduces the
general principles of adaptive control and learning. Topics to be covered
include: real-time parameter estimation, self-tuning regulators,
model-reference adaptive systems, adaptive control of nonlinear systems,
practical aspects and implementation of adaptive control systems, introduction
to computational learning theory, and learning in neural systems (with examples
of learning in the cerebellum and the basal ganglia).
Prerequisite: Knowledge of feedback control systems (ECE 1673, notes available at http://www.engr.pitt.edu/electrical/faculty-staff/mao/1673/)
and linear system theory (ECE 2646, notes available at http://www.engr.pitt.edu/electrical/faculty-staff/mao/2646/).
Time and Place: Monday 6:00 pm−8:30 pm, Benedum
426.
Instructor: Dr. Zhi-Hong Mao, (office) 434 Benedum
Hall, (phone) 412-624-9674, (email) maozh@engr.pitt.edu,
(office hours) Tuesday 4:00 pm−7:00 pm.
Text: S. Sastry and M. Bodson, Adaptive
Control: Stability, Convergence, and Robustness, Prentice-Hall, 1989-1994,
Sastry & Bodson, 1994,
available for free download at http://www.ece.utah.edu/~bodson/acscr/.
Course Evaluation: Homework and class participation 30%, midterm exam
30%, and final exam 40%.
Tentative schedule for
lectures (notes will be available at http://www.engr.pitt.edu/electrical/faculty-staff/mao/2695/
):
|
Date |
Topic |
|
|
August 25 |
Lecture
1: Course organization and introduction to adaptive control |
Chapter 0 of the textbook |
|
September 1 |
Labor Day |
|
|
September 8 |
Lecture
2: Mathematical description of systems and Lyapunov
stability theory |
Section 1.4 |
|
September 15 |
Lecture
3: System identification (I) |
Section 2.0 |
|
September 22 |
Lecture
4: System identification (II) |
Sections 0.3, 1.3, 2.0-2.3,
and 2.5 |
|
September 29 |
Lecture
5: Model reference adaptive control (I) |
Material about the MIT rule |
|
October 6 |
Lecture
6: Model reference adaptive control (II) |
Section 3.0 |
|
October 14 |
Midterm (Tuesday, not Monday—October
13 is Fall Break) |
|
|
October 20 |
Lecture
7: Model reference adaptive control (III) |
Section 1.5.3 (Lyapunov lemma), Section 2.6.2 (SPR transfer functions),
and Supplementary
material |
|
October 27 |
Lecture
8: Model reference adaptive control (IV) |
Section 2.6.2 (SPR transfer
functions) and Supplementary
material |
|
November 3 |
Lecture
9: Self-tuning control (I) |
Sections 2.0-2.3 and
2.5-2.6 |
|
November 10 |
Lecture
10: Self-tuning control (II) |
Section 3.2 and notes for Lecture
11 and Lecture
12 of ECE 2646 |
|
November 17 |
Lecture
11: Practical aspects of adaptive control |
|
|
November 24 |
Lecture
12: Introduction to learning in neural systems |
|
|
December 1 |
|
|
|
December 8 |
Final exam |
|