Development of Computer-Aided-Design Systems for Digital Adaptive Control Systems

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The aim of this research project is to develop software packages for design of digital adaptive control systems. We first investigate fundamental issues in design of digital adaptive control systems, which are summarized as follows.1. Effects of computation delays on feedback properties of digital optimal regulators and type 1 servosystems with computation delays are analyzed.2. A class of stochastic optimal control problems is analyzed to give certain theoretical limit on achievable performance in adaptive control problems.3. Drawbacks of the existing dual control algorithms are pointed out and an improved algorithm is proposed.4. A new design method for digital iterative learning controller is proposed.5. A new digital servosystems for trajectory control of robot manipulators taking account of computation delays are proposed.Based on the above theoretical results, the following CAD systems useful for practical design are developed.1. The CAD system for design of digital optimal regulators and type 1 servosystem taking account of computation delays2. The CAD system for design of digital adaptive identifiers3. The CAD system for design of digital model reference adaptive control systems4. The CAD system for design of digital iterative learning controller5. The CAD system for design of digital servosystem for trajectory control of robot manipulators.The CAD systems 2 and 3 are successfully utilized to develop an adaptive control system for the ventiricular assist device.