Optimal and Adaptive Control Systems

Course Title: Optimal and Adaptive Controls

Course Code: ECEg-6242

Pre-requisites: Linear System Theory, Random Process and Estimation in Control

Description:

Calculus of Variation and the Euler-Lagrange Necessary Condition; The Maximum Principle of Pontryagin and its Application; Derivation of the Hamilton-Jacobi-Bellman Equation via Dynamic Programming and its Application to the Optimal Regulator Problem; The Matrix Riccati Equation and its Solution; Solution of Optimal Control Equations by Gradient Methods, Parameter Optimization Problems with Equality and Inequality Constraints, The Penalty Function Method, Applications in Regulator and Tracking Problems; Characterization of Noise; Definition for the terms: Smoothing, Prediction, Filtering; Estimation of States of a System using Models; Estimation Criteria, Wiener and Levinson Filtering; Gradient methods for Adaptive control; Periodic Perturbation of systems for Adaptation; MRAS and Hyper-stability approach for Parameter Estimation; Exponential data weighting, forgetting factor; LSQ Procedures for State Estimation and Parameter Estimation; Kalman Filter approach for State Estimation, Prediction and Smoothing for discrete time and continuous time systems; Square Root Filtering, Smoothing of Discrete-Time Signals; Spectral Factorization, Suboptimal Filtering; Learning Systems; Adaptive phased arrays for detecting signal direction; Application of Adaptive and Optimal Control; Case studies: Adaptive Radar tracking, Control of robot arm, Satellite altitude control.

List of Projects:

  • Design of Buck Converter Using MARC with MIT Rule.
  • Optimal Stabilization of Inverted Pendulum Using LQR.
  • Design of Model Reference Adaptive Control for Slow Process In Case Of Level Control.
  • Designing A Control System For A 17 Spaces Car Parking Using Microcontroller.
  • Reinforcement Learning is Direct Adaptive Optimal Control.
  • Sliding Mode Control of DC Motor Speed.

References:

  1. Donald E. Kirk, Optimal Control Theory: An Introduction, Prentice-Hall networks series, 1970.
  2. Anderson .B. D. O, Moore .J. B, Optimal control linear Quadratic methods, Prentice Hall of India, New Delhi, 1991.
  3. Sage A. P, White .C. C, Optimum Systems Control, Second Edition, Prentice Hall, 1977.