Adaptive Control Systems

Lecture 4:

Parameter Estimation (II)

- Persistence of excitation
- Gradient adaptive law
Prof. Li-Chen Fu
Department of Electrical Engineering,
National Taiwan University

Review and introduction

p

In Lecture3, we discussed a simple example for

parameter estimation (w/ one unknown parameter)
using gradient method
In this lecture, conditions needed for parameter
convergence will be discussed
(Persistent Excitation, PE)
We will discuss more general cases of adaptive
parameter estimation for SPM
Adaptive laws based on
l
l
l

Gradient algorithm
Least square algorithm
Lyapunov design (for DPM)

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Plant with two unknown parameters

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in the following.

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Conditions of parameter convergence

which in turn

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Conditions of parameter convergence

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Conditions of parameter convergence

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becomes positive definite

later)

how do
we
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Sufficiently Rich signals

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in

(Refer to the textbook for proof)

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Summary of parameter convergence

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SR and PE

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SR and PE

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SR and PE

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be PE!

two

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Adaptive law for general linear plants

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Adaptive law for general linear plants

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Gradient algorithm with different cost function

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Minimization by gradient algorithm

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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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1
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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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Gradient adaptive law with instantaneous cost function

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without

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Gradient adaptive law with instantaneous cost function

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Proof of L.I. of

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Proof of L.I. of

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tradiction

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Example : Gradient adaptive law

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Example : Gradient adaptive law

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Example : Gradient adaptive law

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Example : Gradient adaptive law

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Summary

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p Adaptive control design consists of

1.
2.
3.
4.

Control law
Adaptive law (Estimation law)
How they are combined.
Stability analysis of the closed-loop
system

p Conditions of parameter convergence:

regressor vector is Persistently Exciting (PE)

p How to choose input signals s.t. regressor vector is PE: Sufficiently Rich (SR)
p Different minimization methods and different cost
functions lead to different adaptive algorithms and
different properties.
p Adaptive law:
Gradient algorithm (instantaneous cost)
Gradient algorithm (integral cost, next week)
Least square algorithm (next week)
Lyapunov design (for DPM)
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