ENEE 765 - Adaptive Control (P. S. Krishnaprasad)

ENEE 765 - Adaptive Control (and Learning Theory)

Fall 2017

Updated September 29, 2017

Course Information

Special Announcements (in reverse chronological order)

(7) Homework 3 posted

(6) Lecture Notes 6 posted

(5) Homework 2 posted

(4) Uploaded - Lecture Notes 5 (deterministic identification)

(3) Uploaded - Lecture Notes 4 + plus links to 3 papers on kernel methods

(2) Uploaded 2017 version of Lecture Notes 1, 2 and 3, and Homework Set 1.

(1) For background material on nonlinear control system analysis (especially Lyapunov Theory) used in this course click on the link to ENEE 661 (spring 2017 version) below in the section on Other Resources (OR). See also the references given in the course outline.

(0) Older version (2013) of notes posted below dashed line. Newer (2017) version of notes will be added week by week.

Weekly Lecture Notes by P. S. Krishnaprasad (from 2017)

Lecture 1 - a basic example

Lecture 2 - introduction to model reference adaptive control - an example

Lecture 3 - introduction to indirect adaptive control - an example

Lecture 4 - introduction to learning with kernels Poggio and Smale 2003 paper on learning Simic 2003 paper on application to sensor networks 2008 Review article (Hofmann, Scholkopf and Smola)

Lecture 5 - deterministic identification

Lecture 6 - deterministic identification - convergence proofs

Homework Assignments (from 2017)

Homework Set 1

Homework Set 2

Homework Set 3

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Weekly Lecture Notes by P. S. Krishnaprasad (from 2013)

Lecture 0 a refresher on linear systems

Lecture 1 - introduction to adaptive control - part (i), part (ii), part (iii), part (iv), part (v), part (vi).

Lecture 2 - introduction to learning, paper of Poggio and Smale (from 2003)

Lecture 3 on basic stability theory - part (i), part (ii), part (iii), part (iv), part (v),

Lecture 4 part 1 - deterministic identification and Lecture 4 part 2 - behavior of degenerate gradient descent

Papers on degenerate gradient descent relevant to parameter convergence

Lectures 5 and 6 on Model Reference Adaptive Control primarily from ch. 13 of HK Second Edition (provided by emailed link)

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Homework Assignments

Homework Set 1 ()

Homework Set 2 ()

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Homework solutions

(will be provided by email)

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Other Resources (OR)

My lecture notes on Optimal Control (ENEE 664) - Spring 2014

My lecture notes on Nonlinear Control (ENEE 661) - Spring 2017

My lecture notes on System Theory (ENEE 660) - Fall 2010

Sastry-Bodson book website for downloads and for Dover (2011) edition

Astrom-Wittenmark book for Dover (2008) edition

Real Analysis Book by Cinlar and Vanderbei - material useful in Systems courses

About Sophus Lie

About A. M. Lyapunov

About G. D. Birkhoff

Impact of Control Technology vignettes, and, full report (warning 35 MB)