ECE 6570 - Adaptive Control

Identification using gradient and least-squares algorithms. Indirect adaptive control: pole placement control, model reference control, predictive control, and problems with singularity regions. Direct adaptive control: strictly positive real transfer functions, Kalman-Yacubovitch-Popov lemma, passivity theory, and stability of pseudo-gradient adaptive algorithms. Persistency of excitation and sufficient richness conditions for parameter convergence. Averaging methods and robustness issues. Disturbance rejection.