Adaptive Control of a First-Order System Providing Linear-Like Behaviour and Asymptotic Tracking
| dc.contributor.author | Qazi, Hassaan Ali | |
| dc.date.accessioned | 2021-07-19T17:29:14Z | |
| dc.date.available | 2021-07-19T17:29:14Z | |
| dc.date.issued | 2021-07-19 | |
| dc.date.submitted | 2021-07-12 | |
| dc.description.abstract | Adaptive control is an approach used to deal with systems having uncertain and/or time-varying parameters. In this thesis, we consider the problem of designing an adaptive controller for a discrete-time first-order plant. Recently, Shahab et.al. considered this problem and proposed an approach which provides linear-like behaviour: exponential stability and a convolution bound on the input-output behaviour, together with robustness to slow time-variations and unmodelled dynamics. However, asymptotic tracking of a general reference signal was not provided. Here, we extend the aforementioned work with the aim to achieve asymptotic tracking while retaining linear-like closed-loop behaviour. We replace this uncertainty set with a pair of convex sets, one for each sign of the input gain, which enables us to use two parameter estimators – one for each convex set. We design these estimators using the modified version of the original projection algorithm. For each estimator, there is the corresponding one-step-ahead control law. A dynamic performance signal based switching rule is then adopted that decides which controller should be used at each time step. It is shown that the proposed approach preserves linear-like behaviour. In addition to that, we also have shown asymptotic trajectory tracking for two different circumstances: when the reference signal is asymptotically strongly persistently exciting of order two, and for a fairly general reference signal but the plant is unstable. Numerical simulations are presented to demonstrate the efficacy of the proposed approach. | en |
| dc.identifier.uri | http://hdl.handle.net/10012/17146 | |
| dc.language.iso | en | en |
| dc.pending | false | |
| dc.publisher | University of Waterloo | en |
| dc.subject | adaptive control | en |
| dc.subject | exponential stability | en |
| dc.subject | linear-like behaviour | en |
| dc.subject | convolution bound | en |
| dc.title | Adaptive Control of a First-Order System Providing Linear-Like Behaviour and Asymptotic Tracking | en |
| dc.type | Master Thesis | en |
| uws-etd.degree | Master of Applied Science | en |
| uws-etd.degree.department | Electrical and Computer Engineering | en |
| uws-etd.degree.discipline | Electrical and Computer Engineering | en |
| uws-etd.degree.grantor | University of Waterloo | en |
| uws-etd.embargo.terms | 0 | en |
| uws.contributor.advisor | Miller, Daniel E. | |
| uws.contributor.advisor | Nielsen, Christopher | |
| uws.contributor.affiliation1 | Faculty of Engineering | en |
| uws.peerReviewStatus | Unreviewed | en |
| uws.published.city | Waterloo | en |
| uws.published.country | Canada | en |
| uws.published.province | Ontario | en |
| uws.scholarLevel | Graduate | en |
| uws.typeOfResource | Text | en |