自适应控制1-上海交通大学
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
Lecture One
Class Introduction Instructor: Dr. ZHENG Yi（郑毅）
Nov. 9, 2016
E-mail: yizheng@ Webpage:
P e r f o r m a n c e E r r o r Modelling Accuracy
Fixed-gain controller requires greater modelling accuracy
P e r f o r m a n c e E r r o r Modelling Accuracy
Fixed-gain controller requires greater modelling accuracy Adaptive controller tunes itself
to the physical system
Example 1.1: Consider the system given by
for a=-0.01, 0, 0.01
Feedback control law c Figure: Open-loop responses Figure: Unit Step closed-loop responses
Figure: Open-loop Bode plots Figure: Closed-loop Bode plots
for T=0,0.015,0.03
Feedback control law u=u c-y Figure: Open-loop responses Figure: Unit Step closed-loop responses
Figure: Open-loop Bode plots Figure: Closed-loop Bode plots
Constraints:
Trajectory unknown Constraints
•
•
•
dynamics
Use a controller with varying parameters
Use a controller with constant parameters Use an adaptive controller Use gain scheduling Varying
Constant Unpredictable variations
Predictable variations