Applications of Adaptive Controllers to Systems With Nonlinear Parametrization

[+] Author and Article Information
A. M. Annaswamy, N. Mehta

Adaptive Control Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA

C. Thanomsat

Seagate Technologies Inc., San Jose, CA 95134

Ai-Poh Loh

Department of Electrical Engineering, National University of Singapore, Singapore 0511

J. Dyn. Sys., Meas., Control 120(4), 477-487 (Dec 01, 1998) (11 pages) doi:10.1115/1.2801489 History: Received June 20, 1997; Online December 03, 2007


Nonlinear parametrizations occur in dynamic models of several complex engineering problems. The theory of adaptive estimation and control has been applicable, by and large, to problems where parameters appear linearly. We have recently developed an adaptive controller that is capable of estimating parameters that appear nonlinearly in dynamic systems in a stable manner. In this paper, we present this algorithm and its applicability to two problems, temperature regulation in chemical reactors and precise positioning using magnetic bearings both of which contain nonlinear parametrizations. It is shown in both problems that the proposed controller leads to a significantly better performance than those based on linear parametrizations or linearized dynamics.

Copyright © 1998 by The American Society of Mechanical Engineers
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