Adaptive Control of Systems Containing Piecewise Linear Nonlinearities
Recker, Darrel Alan
This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.
Permalink
https://hdl.handle.net/2142/71993
Description
Title
Adaptive Control of Systems Containing Piecewise Linear Nonlinearities
Author(s)
Recker, Darrel Alan
Issue Date
1993
Doctoral Committee Chair(s)
Kokotovic, P.V.
Department of Study
Electrical Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Abstract
In this thesis, we present both a direct and an indirect adaptive control theory applicable to systems with piecewise linear nonlinearities. In contrast to most of adaptive nonlinear control, our result is applicable to the physically important asymmetric slope and deadzone nonlinearities.
In our direct adaptive control result, we analyze the system on each of the smooth regions of the nonlinearity. We then use switching logic so that only the parameters of the currently active region of the nonlinearity are updated.
In our indirect adaptive control result, we develop a parameterization of the plant that is linear in a set of unknown parameters. The regional descriptions of the nonlinearities are entirely contained in the definition of the regressor. This is convenient for estimation since adaptation for the parameters of the separate regions of the nonlinearities is automatically regulated by the regressor. Unfortunately, this parameterization necessitates multiple estimates of the zeros of the plant. To overcome the difficulty of designing a feedback/feedforward controller given multiple estimates of the zeros, we implement a nonlinear "zero resolving" prefilter. This prefilter to the plant allows one to design a feedback/feedforward controller based on one set of zeros.
We also present a hydraulic gas spring application in which a deadzone is present due to the valve characteristics. We show our adaptive control design applied to this system. We compare computer simulations with experimental data of our adaptively controlled system.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
