Analysis of slow convergence regions in adaptive systems

In this thesis, the convergence properties of errors are examined in a class of adaptive systems that corresponds to adaptive control of linear time-invariant plants with state variables accessible. The existence of a sticking region is demonstrated in the error space where the state errors move with a finite velocity independent of their magnitude. It is shown that these properties are also exhibited by adaptive systems with closed-loop reference models, which have been demonstrated to exhibit improved transient performance, as well as those that include an integral control in the inner-loop. Simulation and numerical studies are included to illustrate the size of this sticking region and its dependence on various system parameters. With the existence of sticking regions shown for inner-loop adaptive controllers, the impact on outer-loop control is demonstrated for systems that implement inner-loop adaptation.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2016

Author dc:creator

• Nouwens, Oscar

Advisor dc:contributor.advisor

• Anuradha M. Annaswamy.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/104272

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/104272