EECE 574 - Adaptive Control - Overview - Courses - University of ...

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Cautious Controller Dual Control Cautious Controller Performing the minimization of I1 actually gives: u(t) = − ˆ b ˆb 2 y(t) + pb and the minimum performance index I1caut = σ 2 + pb ˆb 2 y + pb 2 (t − 1) Guy Dumont (UBC) EECE 574 Overview 42 / 49
Cautious Controller Dual Control Cautious Controller Because pb is positive, the cautious controller has a smaller gain than the certainty equivalence one, which by ignoring uncertainty may be at times too bold Turn-off phenomenon: When the uncertainty pb is large, controller gain is small and so does the control action So, unless an external perturbation is added to the input, no learning can take place and the uncertainty pb cannot be reduced This highlights the importance of probing signals Guy Dumont (UBC) EECE 574 Overview 43 / 49
Page 1 and 2: EECE 574 - Adaptive Control Overvie
Page 3 and 4: Related Books Introduction Books N.
Page 5 and 6: Background Definitions What Is Adap
Page 7 and 8: Background Definitions A Narrow Def
Page 9 and 10: Background Process Variations Feedb
Page 11 and 12: Background Process Variations Judgi
Page 13 and 14: Background Example 1 Effect of Proc
Page 23 and 24: Background Example 2 Mechanisms for
Page 25 and 26: Gain Scheduling Setpoint Adaptive S
Page 27 and 28: Adaptive Schemes Development of Ada
Page 29 and 30: Adaptive Schemes Model Reference Ad
Page 31 and 32: Adaptive Schemes Self-Tuning Contro
Page 37 and 38: Dual Control A Rigorous Approach to
Page 39 and 40: Dual Control Certainty equivalence
Page 41: Dual Control Certainty equivalence
Page 45 and 46: Dual Controller Dual Control Dual C
Page 47 and 48: Dual Controller 2 1.5 1 0.5 0 −0.
Page 49: Implications forAdaptive Control Im

EECE 574 - Adaptive Control - Overview - Courses - University of ...

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