Master Course

ADAPTIVE AND LEARNING CONTROL

Lecture 09 – May 18, 2011

Prof. Dr.-Ing. Michael Schnell

Prof. Dr. Schnell Adaptive and Learning Systems 1

 Learning objectives May 11, 2011
Review…
… Survey
• Historical background
• Classification of adaptive control structures
... adaptation of Compensation Controllers

Outline today…
... adaptation of Compensation Controllers
... adaptation of Deadbeat-Controllers

Prof. Dr. Schnell Adaptive and Learning Systems 2

 Adaptive Control / Survey

Review Adaptive Control:

• Everyday language: “to adapt” means to change oneself so that one’s
behaviour will conform to new or changed circumstances
• Techniques: A form of control in which the control parameters are
automatically adjusted as conditions change so as to optimize
performance
• Literature: “adaptive systems” or “adaptive control” is known since the
1950s
Adaptive control system:
• needs adjustable parameters and mechanisms to adjust the parameters
• the adaptive mechanism causes nonlinear and time-variant system
behaviour
• the analysis of nonlinear systems is very complex – therefore an
adaptive control system is usually interpreted as 2 nested control loops:
inner control loop – outer adaptation loop

Prof. Dr. Schnell Adaptive and Learning Systems 3

 Adaptive Control / Survey

Adaptive Control System

Outer Adaptation Loop

Parameter
Adjustment

Control Parameters
disturbance control variable
reference value z
w y

Controller Process

- actuating variable
u

Inner Control Loop

Prof. Dr. Schnell Adaptive and Learning Systems 4

 Adaptive Control / Survey

Classification “ADAPTIVE CONTROL”

Prof. Dr. Schnell Adaptive and Learning Systems 5

 Adaptive Control / Survey

Classification “ADAPTIVE CONTROL”

Prof. Dr. Schnell Adaptive and Learning Systems 6

 Adaptive Control / Survey

Classification “ADAPTIVE CONTROL”

Prof. Dr. Schnell Adaptive and Learning Systems 7

 Adaptive Control / Survey

Classification “ADAPTIVE CONTROL”

Prof. Dr. Schnell Adaptive and Learning Systems 8

 Adaptive Control / compensation controller

Compensation controller
basic idea:
• design the behaviour of the closed loop control system by
compensating special characteristics of the process or by prescribing
the poles or the denominator polynomial of the closed loop
• calculation of the poles based on the identified process, represented
by the polynomials Â(z −1 ) and B̂(z −1 ) (estimated parameters), and
based on a given structure of the controller (e.g. PID controller)

Prof. Dr. Schnell Adaptive and Learning Systems 9

 Adaptive Control / compensation controller

Compensation controller

order of the process model: n (no direct throughput of the process: b0 = 0)

order of the controller: numerator: rz, denominator: rn
direct throughput of the controller is allowed: q0 ≠ 0

Prof. Dr. Schnell Adaptive and Learning Systems 10

 Adaptive Control / compensation controller

Compensation controller

Transfer function of the closed loop:

Prof. Dr. Schnell Adaptive and Learning Systems 11

 Adaptive Control / compensation controller

Compensation controller

Transfer function of the closed loop:

Poles of the closed loop (roots of the polynomial D(z-1)):

n+r
−1
1 + ∑ d i ⋅ z −1
Aˆ (z −1) ⋅ P (z −1) + Bˆ (z −1) ⋅ Q(z −1) =
D( z ) =
i =1

order of polynomial D(z-1): n + r with r = max(rz , rn)

number of poles: n + r

Prof. Dr. Schnell Adaptive and Learning Systems 12

 Adaptive Control / compensation controller

Compensation controller: EXAMPLE 1

Q( z −1 ) bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
GR,=
PID ( y ) =
P ( z −1 ) 1 + bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
n+r
closed loop (denominator): −1
1 + ∑ d i ⋅ z −1
Aˆ (z −1) ⋅ P (z −1) + Bˆ (z −1) ⋅ Q(z −1) =
D( z ) =
i =1

Choose a suitable controller type:

Q( z −1 ) q0 + q1 ⋅ z −1 + q2 ⋅ z −2
PID-Controller: GR,= PID ( z ) =
P ( z −1 ) 1 − z −1

Q( z −1 ) q0 + q1 ⋅ z −1 + q2 ⋅ z −2
PIDT1-Controller: =
GR,PIDT 1( z ) =
P ( z −1 ) ( )(
1 − z −1 ⋅ 1 + γ ⋅ z −1 )
Prof. Dr. Schnell Adaptive and Learning Systems 13
 Adaptive Control / compensation controller

Compensation controller: EXAMPLE 1

n+r
closed loop (denominator): −1
1 + ∑ d i ⋅ z −1
Aˆ (z −1) ⋅ P (z −1) + Bˆ (z −1) ⋅ Q(z −1) =
D( z ) =
i =1

Choose a very common process model:

Bˆ ( z −1 ) bˆ1 ⋅ z −1 + bˆ2 ⋅ z −2
PT2 Model: =
Gs ( z ) =
ˆ
Aˆ ( z −1 ) 1 + aˆ1 ⋅ z −1 + aˆ2 ⋅ z −2

Prof. Dr. Schnell Adaptive and Learning Systems 14

 Adaptive Control / compensation controller

Compensation controller / Pole placement

n+r
closed loop (denominator): D(z ) = −1 −1
1 + ∑ di ⋅ z − i
−1
Aˆ (z ) ⋅ P (z ) + Bˆ (z ) ⋅ Q(z ) = −1 −1

i =1

Procedure:
1. determination of the sampling time T0
2. determination of the process model
3. specification of the damping factor D and the natural frequency ωe
of the closed loop
4. calculation of the coefficients of the denominator polynomial D(z-1):

(
d1 =−2 ⋅ e − D⋅ωe ⋅T0 ⋅ cos ωe ⋅ T0 ⋅ 1 − D 2 ) D ≤1 d 2 = e −2⋅D⋅ωe ⋅T0

Prof. Dr. Schnell Adaptive and Learning Systems 15

 Adaptive Control / compensation controller

Compensation controller / Pole placement

Procedure (cont.):
5. calculation of the parameter of the PIDT1 controller:

q2 =  ( )( ) ( )
aˆ2 ⋅  bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 + bˆ2 ⋅ bˆ1 ⋅ d 2 − bˆ2 ⋅ d1 − bˆ2 

( )(
bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 − bˆ2
2
)2

Prof. Dr. Schnell Adaptive and Learning Systems 16

 Adaptive Control / compensation controller

Compensation controller / Pole placement

Procedure (cont.):
5. calculation of the parameter of the PIDT1 controller:

q2 =  ( )( ) ( )
aˆ2 ⋅  bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 + bˆ2 ⋅ bˆ1 ⋅ d 2 − bˆ2 ⋅ d1 − bˆ2 

( )(
bˆ1 + bˆ2 ⋅ aˆ1 ⋅ bˆ1 ⋅ bˆ2 − aˆ2 ⋅ bˆ1 − bˆ2
2
)2

Prof. Dr. Schnell Adaptive and Learning Systems 17

 Adaptive Control / compensation controller

Compensation controller: PID/PIDT1 type

n+r
closed loop denominator: −1
D( z ) = −1 −1 −1 −1
1 + ∑ di ⋅ z − i
Aˆ (z ) ⋅ P (z ) + Bˆ (z ) ⋅ Q(z ) =
i =1

closed loop denominator with PIDT1 Controller:

the unknown parameters of

Prof. Dr. Schnell
the PIDT1 controller depend
on the estimated parameters
of the process and on the
poles of the closed loop
Adaptive and Learning Systems 18
 Adaptive Control / compensation controller

Compensation controller: Pole Placement

• What are the criteria to assign the poles of the closed loop?
Stability, good reference and good disturbance reaction of the closed
loop, robustness, ...
• There are a lot of different procedures to assign the poles of the
closed loop system

PT2-Method: Closed loop is modelled as a PT2-System:

characteristic equation:

poles:

Prof. Dr. Schnell Adaptive and Learning Systems 19

 Adaptive Control / compensation controller

Compensation controller: Pole Placement

After conversion of the transfer function into a discrete form, the

denominator D(z-1) comprises the poles of the closed loop

reference polynomial: D(z −1) =1 + d1 ⋅ z −1 + d 2 ⋅ z −2

(
d1 =−2 ⋅ e − D⋅ωe ⋅T0 ⋅ cos ωe ⋅ T0 ⋅ 1 − D 2 ) D ≤1
d 2 = e −2⋅D⋅ωe ⋅T0

actual polynomial:

Comparing the coefficients of the 2 polynomials gives the solution for

the unknown parameters q0, q1, q2 and γ of the controller.

Prof. Dr. Schnell Adaptive and Learning Systems 20

 Adaptive Control / compensation controller

Compensation controller / Pole placement

Practical experience:
• step response is influenced also by the zeros (of the numerator) of
the closed loop transfer function (and other characteristics)
• intensive use of other heuristics during the controller design
(empirical values, rules of thumb)
• Proposal of Aström (algorithm 1: natural frequency):
specification of the natural frequency in the interval

• stability condition: poles of the closed loop lie within the unit circle
Prof. Dr. Schnell Adaptive and Learning Systems 21
 Adaptive Control / compensation controller

Compensation controller / Pole placement

Practical experience:
• Proposal of Bobal (algorithm 2: overshoot):
specification of the denominator polynomial D:

• poles:
• stability condition:

Prof. Dr. Schnell Adaptive and Learning Systems 22

 Adaptive Control / compensation controller

Compensation controller / Pole placement

Bobal algorithm (cont.) 1
0.5π/T Damping D
0.6π/T 0.4π/T
• parameter α to specify 0.8 0.10.3π/T
0.7π/T
the settling time Ts and 0.2
0.3
0.6
the actuating variable u 0.8π/T 0.4
0.5
0.2π/T

• parameter ω to specify 0.4 0.6

0.7
0.9π/T 0.8 0.1π/T
the overshoot D. 0.2 0.9
π/T
• rule of thumb formula 0
π/T settling time Ts
settling time Ts: -0.2
0.9π/T 0.1π/T
circle in z-plane with
-0.4
radius exp(-4T0/Ts)
0.8π/T 0.2π/T
-0.6

-0.8
0.7π/T ωe
natural frequency0.3π/T
0.6π/T 0.4π/T
0.5π/T
-1

-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

R lA i

Prof. Dr. Schnell Adaptive and Learning Systems 23

 Adaptive Control / compensation controller

Compensation controller / Pole placement

Practical experience:
• solution of Bobal algorithm 2: overshoot:

Prof. Dr. Schnell Adaptive and Learning Systems 24