Syllabus

Introduction: Parametric models of dynamical systems, Adaptive control problem Real time parameter estimation: Least squares and regression models, Estimating parameters in Dynamical Systems, Experimental conditions, Prior information, MLE, RLS, Instrument variable method. Deterministic Self tuning regulators (STR): Pole placement design, Indirect self tuning regulators, Continuous time self-tuners, Direct self-tuning regulators, disturbances with known characteristics. Stochastic and Predictive Self tuning regulators: Design of Minimum variance and Moving average controllers, Stochastic self-tuning regulators, Unification of direct self- tuning regulators. Linear quadratic STR, adaptive predictive control. Model reference adaptive control (MRAS): The MIT Rule, Determination of adaptation gain, Lyapunov theory, Design of MRAS using Lyapunov theory, BIBO stability, Output feedback, Relations between MRAS and STR.