EU Marie Curie   Project ITMPC Improving the tuning methodology for MPC TOK 3092

 
 
Lecture L1
 
"Adaptive rejection of unknown disturbances - Application to active vibration control" 
 

Lecturer :

Ioan D. Landau

Emeritus Research Director at CNRS

Laboratoire d’Automatique de Grenoble, France

Date: November 22-26,2004

Place : Dept. Ing. de Sistemas y  Automatica

Escuela Superior de Ingenieros, Universidad de Sevilla

Date: 15/10/2004
Hour: 10:30 am

The basic approaches for the rejection of unknown disturbances will be reviewed in the first part of the talk. The methodology for feedback adaptive control of active vibration systems in the presence of unknown narrow band disturbances will be then discussed. A direct adaptive control scheme based on the internal model principle and the use of the Youla-Kucera parametrization is proposed. This approach is comparatively evaluated with respect to an indirect adaptive control scheme based on the estimation of the disturbance model. The comparative evaluation of the two approaches is done in real time on an active suspension system.

slides (pdf)

Course C1

Identification in Closed Loop - a Powerful Design Tool (Theory, Algorithms and Applications)

Lecturer :

Ioan D. Landau

Emeritus Research Director at CNRS

Laboratoire d’Automatique de Grenoble, France

Date: November 22-26,2004

Place : Dept. Ing. de Sistemas y  Automatica

Escuela Superior de Ingenieros, Universidad de Sevilla

System identification in closed loop operation has known a very important development in the last ten years. This development has been driven on one hand by the frequent requirement for system identification in closed loop (either because the system is unstable or have important drift in open loop operation or because a controller exists already) and on the other hand by the important discovery, that models for control design identified in closed loop are in general better than those identified in open loop (provided that appropriate algorithms are used).

Identification in closed loop is also a very useful tool for controller reduction.

The objectives of the course are:

• to give a global view upon the subject
• to present the most efficient algorithms for identification in closed loop,
• to present the methodology for identification in closed loop as applied in practice
• to illustrate the methodology by several applications
• to present a method for controller reduction

The course viewgraphs, the corresponding toolboxes (matlab) and data will be made available to the participants.

Outline:

• Introduction (why we need identification in closed loop?) and examples
• Brief review of open loop identification and robust control
• Algorithms for identification in closed loop
• Properties of the algorithms and of the estimated models
• Validation of models identified in closed loop
• The methodology of identification in closed loop
• Experimental results (flexible transmission, flexible robot arm, active suspension)
• Direct controller reduction by identification in closed loop
• Controller reduction - Experimental results ( an active suspension system)
• Coherence of identification in closed loop and direct controller reduction
• Concluding remarks

slides (zip)

translated chaps 9-10 (zip) from the book: “COMMANDE DES SYSTEMES” by I.D.Landau

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