自适应控制
Adaptive control
1.关于控制
2.关于自适应控制
3.模型参考自适应控制
4.自校正控制
5.自适应替代方案
6.预测控制
参考文献
主要章节内容说明：
第一部分：
第一章自适应律的设计
§1.参数最优化方法
§2.基于Lyapunov稳定性理论的方法
§3.超稳定性理论在自适应控制中的应用第二章误差模型
§1.Narendra误差模型
§2.增广矩阵
§3.线性误差模型
第三章MRAC的设计和实现
第四章小结
第二部分：
第一章模型辨识及控制器设计
§1.系统模型：CARMA模型
§2.参数估计：LS法
§3.控制器的设计方法：利用传递函数模型
§4.自校正
第二章最小方差自校正控制
§1.最小方差自校正调节器
§2.广义最小方差自校正控制
第三章极点配置自校正控制
§1.间接自校正
§2.直接自校正
1.About control engineering education
1)control curriculum basic concept
(1)dynamic system
●The processes and plants that are controlled have responses that evolve
in time with memory of past responses
●The most common mathematical tool used to describe dynamic system is
the ordinary differential equation (ODE).
●First approximate the equation as linear and time-invariant. Then
extensions can be made from this foundation that are nonlinear 、
time-varying、sampled-data、distributed parameter and so on.
●Method of building model (or equation )
a)Idea of writing equations of motion based on the physics and
chemistry of the situation.
b)That of system identification based on experimental data.
●Part of understanding the dynamical system requires understanding the
performance limitations and expectation of the system.
2.stability
With stability, the system can at least be used
●Classical control design method, are based on a stability test.
Root locus 根轨迹
Bode‟s frequency response 波特图
Nyquist stability criterion 奈奎斯特判据
●Optimal control, especially linear-quadratic Gaussian (LQG) control (线
性二次型高斯问题) was always haunted by the fact that method did not
include a guarantee of margin of stability.
The theory and techniques of robust (鲁棒)design have been developed
as alternative to LQG
●In the realm of nonlinear control, including adaptive control, it is
common practice to base the design on Lyapunov function in order to be
able to guarantee stability of final result.
3.feedback
Many open-loop devices such as programmable logic controllers (PLC) are in use, their design and use are not part of control engineering.
●The introduction of feedback brings costs as well as benefits. Among the
costs are need for both actuators and sensors, especially sensors.
●Actuator defines the control authority and set the limits of speed in
dynamic response.
●Sensor via their inevitable noise, limit the ultimate(最终) accuracy of
control within these limits, feedback affords the benefit of improved
dynamic response and stability margins, improved disturbance
rejection(拒绝) ，and improved robustness to parameter variability.
●The trade off between costs and benefits of feedback is at the center of
control design.
4.Dynamic compensation
●In beginning there was PID compensation, today remaining a widely used
element of control, especially in the process control.
●Other compensation approaches : lead-and-log networks (超前-滞后)
observer-based compensators include : pole placement, LQG designs.
●Of increasing interest are designs capable of including trade-off among
stability, dynamic response and parameter robustness.
Include: Q parameterization, adaptive schemes.
Such as self-tuning regulators, neural-network-based-controllers.
二、historical perspectives (透视)
●Most of early control manifestations appear as simple on-off (bang-bang)
controllers with empirical (实验；经验性的) setting much dependent upon
experience.
●The following advances such as Routhis and Hurwitz stability analysis
(1877).
Lyapunov‟s state model and nonlinear stability criteria(判据) (1890) .
Sperry‟s early work on gyroscope and autopilots (1910), and Sikorsky‟s
work on ship steering (1923)
Take differential equation, Heaviside operators and Laplace transform as
their tools.
●电机工程(electrical engineering)
The largely changed in the late 1920s and 1930s with Black‟s development
of the feedback electronic amplifier, Bush‟s differential analyzer, Nyquist‟s
stability criterion and Bode‟s frequency response methods.
The electrical engineering problems faced usually had vary complex albeit
mostly linear model and had arbitrary (独立的；随机的) and wide-ringing
dynamics.
●过程控制(process control in chemical engineering)
Most of the progress controlled were complex and highly nonlinear, but
usually had relatively docile (易于处理的) dynamics.
One major outcome of this type of work was Ziegler-Nichols‟PID
thres-term controller. This control approach is still in use today, worldwide
with relatively minor modifications and upgrades (including sampled data
PID controllers with feed forward control, anti-integrator-windup
controllers ：抗积分饱和，and fuzzy logic implementations).
●机械工程(mechanical engineering)
The application of controls in mechanical engineering dealt mostly in the
beginning with mechanism controls, such as servomechanisms, governors
and robots.
Some typical control application areas now include manufacturing process
controls, vehicle dynamic and safety control, biomedical devices and genetic
process research.
Some early methodological outcomes were the olden burger-Kahenbuger
describing function method of equivalent linearization, and minimum-time,
bang-bang control.
●航空工程（aeronautical engineering ）
The problems were generally a hybrid (混合) of well-modeled mechanics
plus marginally understood fluid dynamics. The models were often weakly
nonlinear, and the dynamics were sometimes unstable.
Major contributions to framework of controls as discipline were Evan‟s root
locus (1948) and gain-scheduling.
●Additional major contributions to growth of the discipline of control over the
last 30-40 years have tended to be independent of traditional disciplines.
Examples include:
Pontryagin‟s maximum principle (1956) 庞特里金
adaptive
Bellman‟s dynamic programming (1957)贝尔曼
Kalman‟s optimal estimation (1960)
And the recent advances in robust control.
三、Abstract thoughts on curriculum
●The possibilities for topic to teach are sufficiently great. If one tries to
present proofs of all theoretical results. One is in danger of giving the
students many mathematical details with little physical intuition or
appreciation for the purposes for which the system is designed.
●Control is based on two distinct streams of thought. One stream is physical
and discipline-based. Because one must always be controlling some thing.
The other stream is mathematics-based, because the basis concepts of
stability and feedback are fundamentally abstract concepts best expressed
mathematically. This duality(两重性) has raised, over the years, regular
complaints about the …gap‟ between theory and practice.
●The control curriculum typically begins with one or two courses designed to
present an overview of control based on linear, constant, ODE models,
s-plane and Nyquist‟s stability ideas, SISO feedback and PID, lead-lay and
pole-placement compensation.
These introductory courses can then be followed by courses in linear system
theory, digital of control, optimal control, advanced theory of feedback, and
system identification.
四、Main control courses
●Introduction to control
Lumped system theory
Nonlinear control
Optimal control
Adaptive control
Robot control
Digital control
Modeling and simulation
Advanced theory

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