System Identification and Adaptive Control

Prerequisites

Undergraduate Course in Linear Systems and Classical Control

Graduate introductory course, e.g., ME 547 at UW, on modern control engineering.

Textbook

Notes will be distributed.

Lectures

• *Discretization and Digital Control
• Transfer operator
• Introduction to System Identification and Recursive Least Squares
• Parameter Adaptation Algorithm (PAA) - Stability
• PAA - Parallel Predictor
• Diophantine Equation
• PAA - Parameter Convergence
• Adaptive pole placement
• Internal Model Principle
• Adaptive disturbance observer
• Identifying nonlinear systems

Grading

midterm [35%] + homework [30%] + final project [35%]

References

• System Identification and Adaptive Control:
  • Class reader on canvas
  • Ioan D. Landau et al. 2011. Adaptive Control: Algorithms, Analysis and Applications. Springer
  • Lennart Ljung, System Identification: Theory for the User. 2nd Ed. Prentice Hall
• Digital Control, Signal Processing, and Filter Design:
  • Gene F. Franklin, J. David Powell, and Michael Workman. Digital Control of Dynamic Systems, 3rd Edition. Ellis-Kagle Press.
  • Oppenheim, Alan V., and Ronald W. Schafer. 2009. Discrete-Time Signal Processing. Prentice Hall.

Homework policy

Homework is due in class, before the lecture starts. Late homework will not be accepted. If your homework contains group work, each group member must specify his/her contributions.

Special Accommodation

Please notify the instructor in writing by the second week of the semester, if you have any potential conflict(s) about the class schedule, or if you need special accommodations such as: disability-related accommodations, emergency medical information you wish to discuss with the instructor, or special arrangements in case the building must be evacuated.