Syllabus

Introduction: Parametric models of dynamical systems, Adaptive control problem Real time pa- rameter 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 regula- tors, Continuous time self-tuners, Direct self-tuning regulators, disturbances with known charac- teristics.

Stochastic and Predictive Self tuning regulators: Design of Minimum variance and Moving av- erage 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.

Properties of Adaptive systems: Nonlinear dynamics, Analysis of Indirect discrete time self-tun- ers, Stability of direct discrete time algorithms, Averaging, Application of averaging techniques, Averaging in stochastic systems, Robust adaptive controllers.