Course content

Introduction to classical system identification for linear systems: non-parametrice and parametric methods, prediction error methods, least squares methods and instrumental variables methods. Extremum seeking methods. On-line parameter estimation for linear systems: SPR-Lyapunov method, gradient methods and least squares methods. Parameter estimation with projection. Direct and indirect adaptive control: model reference control (MRC), model reference adaptive control (MRAC), pole placement control (PPC) and adaptive pole placement control (APPC). Robustness in adaptive systems.

Learning outcome

Knowledge:
The student should posess:
- detailed knowledge of classical system identification and the development and properties of the various methods.
- detailed knowledge of on-line parameter estimation and the development and properties of the various methods.
- detailed knowledge of adaptive control systems and their development and properties.
- detailed knowledge of methods and tools for stability analysis of adaptive systems.

Skills:
The student should independently be able to:
- apply methods for classical system identification.
- apply methods for on-line parameter estimation.
- develop adaptive control systems for linear systems.
- analyze a problem and select an appropriate method.
- analyze existing methods with respect to stability.

General skills:
The student should be able to:
- communicate technical issues with both experts and laymen.
- communicate independent work in writing.
- contribute to creative processes.

Learning methods and activities

Lectures, compulsory homework assignments and compulsory laboratory assignments. A final written exam is the basis for the final grade in the subject (letter grade). The compulsory activities must be approved to be eligible for the exam. If there is a re-sit examination, the examination form may change from written to oral.

Compulsory assignments

• Laboratory exercises
• Exercises

Recommended previous knowledge

Courses TTK4105 Control Systems and TTK4115 Linear System Theory.

Course materials

To be announced.