Adaptive Inverse Control
Taught summer 1997.

 Summary

In the summer of 1997, I was invited by the faculty of Universidad Nacional Autónoma de México (UNAM), to present a special masters-degree-level summer course on Adaptive Inverse Control. I have included the course abstract and lecture notes in this dossier.

 Abstract

The goal of control theory is to make a given dynamical system (the “plant”) behave in a user-specified manner as accurately as possible. This objective may be broken down into three separate tasks: stabilization of the plant dynamics; control of the plant dynamics; and control of plant disturbance. Conventionally, one uses feedback to treat all three problems simultaneously. Compromises are necessary to achieve good solutions.

Adaptive inverse control is a method to treat the three control tasks separately. First, the plant is stabilized; secondly, the plant is controlled using a feedforward controller; thirdly, a disturbance canceller is used to reject plant disturbances. Adaptive filters are used as controller and disturbance canceller, and algorithms adapt the transfer functions of the filter to achieve excellent control.

 Files available for viewing

The following file requires Adobe Acrobat Reader. All pages are scanned; most are handwritten.

> View the entire “Adaptive Inverse Control” course reader (151 pages; 15.7 Mb; Requires Adobe Acrobat Reader–only available on CD-ROM dossier)

< Go to ECE5530 page
< Go to Stanford EE264 page
^ Return to the “Documentation of Teaching” index
^ Return to the main Table of Contents