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Restructuring Controllers to Accommodate Plant Nonlinearities

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dc.contributor.advisorKourosh Danai
dc.contributor.advisorMathew Lackner
dc.contributor.advisorFrank Sup
dc.contributor.authorSahare, Kushal
dc.contributor.departmentUniversity of Massachusetts Amherst
dc.contributor.departmentMechanical Engineering
dc.date2024-03-28T20:13:35.000
dc.date.accessioned2024-04-26T18:23:26Z
dc.date.available2024-04-26T18:23:26Z
dc.date.submittedFebruary
dc.date.submitted2018
dc.description.abstractThis thesis explores the possibility of controller restructuring for improved closed-loop performance of nonlinear plants using a gradient based method of symbolic adaptation- Model Structure Adaptation Method (MSAM). The adaptation method starts with a controller which is a linear controller designed according to the linearized model of the nonlinear plant. This controller is then restructured into a series of nonlinear candidate controllers and adapted iteratively toward a desired closed-loop response. The noted feature of the adaptation method is its ability to quantify structural perturbations to the controllers. This quantification is important in scaling the structural Jacobian that is used in gradient-based adaptation of the candidate controllers. To investigate this, two nonlinear plants with unknown nonlinearities viz., nonlinear valve and nonlinear inverted pendulum are chosen. Furthermore, the properties of restructured controllers obtained for two systems, stability, effect of measurement noise, reachability, scalability and algorithmic issues of MSAM are studied and compared with the starting controller.
dc.description.degreeMaster of Science (M.S.)
dc.identifier.doihttps://doi.org/10.7275/10996429
dc.identifier.orcidN/A
dc.identifier.urihttps://hdl.handle.net/20.500.14394/33647
dc.relation.urlhttps://scholarworks.umass.edu/cgi/viewcontent.cgi?article=1628&context=masters_theses_2&unstamped=1
dc.source.statuspublished
dc.subjectSymbolic Regression
dc.subjectNonlinear Control
dc.subjectStructural Adaptation
dc.subjectModel Structure Adaptation Method
dc.titleRestructuring Controllers to Accommodate Plant Nonlinearities
dc.typeopenaccess
dc.typearticle
dc.typethesis
digcom.contributor.authorisAuthorOfPublication|email:ksahare@umass.edu|institution:University of Massachusetts Amherst|Sahare, Kushal
digcom.identifiermasters_theses_2/613
digcom.identifier.contextkey10996429
digcom.identifier.submissionpathmasters_theses_2/613
dspace.entity.typePublication
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