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|Title:||Adaptive Control of Systems Containing Piecewise Linear Nonlinearities|
|Author(s):||Recker, Darrel Alan|
|Doctoral Committee Chair(s):||Kokotovic, P.V.|
|Department / Program:||Electrical Engineering|
|Degree Granting Institution:||University of Illinois at Urbana-Champaign|
|Subject(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.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1993.
|Date Available in IDEALS:||2014-12-16|
This item appears in the following Collection(s)
Dissertations and Theses - Electrical and Computer Engineering
Dissertations and Theses in Electrical and Computer Engineering
Graduate Dissertations and Theses at Illinois
Graduate Theses and Dissertations at Illinois