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Contents

This course addresses design methods and algorithms for implementation of adaptive controllers for systems that can be modeled by ordinary differential equations, or systems of differential equations, where parameters are unknown. The course also covers recursive-least-squares algorithms, the MIT rule, Lyapunov-function-based adaptation and model reference adaptive control (MRAC). Numerical implementations are studied in detail.
The course is divided into two parts:

1. Theory, 4.5 ECTS.
Mathematical methods for on-line parameter identification for the design of adaptive controllers, and adaptive control systems are analyzed, studied and discussed.

2. Laboratory and Project, 3.0 ECTS.
Practical skills in Matlab/Simulink programming of adaptive controllers obtained through exercises and guided programming tasks. The ability to design, implement, simulate, document, and present adaptive controller is examined through a small project. Project results are presented orally and in writing. The report should be written according to the IMRAD structure and documented MATLAB scripts are submitted as separate files.
 

Required Knowledge

For admission at least two years full-time university studies are required, including 30 ECTS in Mathematics containing Linear Algebra, Differential Equations as well as Calculus, 7.5 ECTS in Mathematical Statistics, 15 ECTS at advanced level in Electronics including Linear Control Systems, 7.5 ECTS, and 7.5 ECTS in Programming, or equivalent.
Proficiency in English equivalent to Swedish upper Secondary course English A/6. Where the language of instruction is Swedish, applicants must prove proficiency in Swedish to the level required for basic eligibility for higher studies.