1. The Self-Organizing Controller
Chapter 6

2. Summary Model Reference Adaptive System, MRAS Performance measure
Local adjustments, nonlinear

3. Adaptive Controller
An adaptive controller is a controller with adjustable parameters and a mechanism for adjusting the parameters (Åström & Wittenmark, 1995)

4. Adaptive System Parameter adjustment Parameters Setpoint
Control signal
Output
Controller
Plant

5. MRAS
Model
Controller
Plant
Adjustment
mechanism
Ref y u ym
Parameters

6. Assumptions Plant: known structure Model: performance specification
Controller: perfect model-following capacity
Adjustment mechanism: uses model error  = ym - y

7. First Order Plant Response

8. Specifications
plant
model
control law
adaptation law

9. The MIT Rule

10. SOC Block Diagram de/dt GCE GE e E GCU F Array1 P Array2 M Modifier CE
Integrator CU U

11. Assumptions Plant: monotonous response Model: performance table P
Controller: incremental Finc
Adjustment mechanism: modifier block M

12. P table (Procyk & Mamdani)

13. P table (Yamazaki) -6 -5 -4 -3 -2 -1 0 1 2 3 4 5 6

14. Adaptation Law

15. Linear Performance Measure

16. Example: e-9s/s(s+1)2 Tune a linear fuzzy, start adaptation, and
measure the performance of response.

17. Incremental PD Control
200
400
600
800
1000 -1 1 2
y and ym (dashed)
-0.05
0.05
0.1
0.15
Control signal u
Time [s]

18. After First Training Run
200
400
600
800
1000 -5 5 10
y and p (dashed)
Seconds

19. After 29 Runs 200 400 600 800 1000 0.5 1 y and ym (dashed) 0.02 0.04
200
400
600
800
1000
0.5 1
y and ym (dashed)
0.02
0.04
0.06
0.08
Control signal u

20. Control Surface And ISP

21. Tuning Rules

22. Time Lock (delay line)

23. Summary Model Reference Adaptive System, MRAS Performance measure
Local adjustments, nonlinear