THEORY OF SELF-ADAPTIVE CONTROL SYSTEMS 0 THEORY OF SELF-ADAPTIVE CONTROL SYSTEMS Proceedings of the Second IFAC Symposium on the Theory of Self-Adaptive Control Systems September 14-17, 1965 National Physical Laboratory Teddington, England Edited by P. H. Hammond Autonomies Division National Physical Laboratory <±? Springer Science+Business Media, LLC 1966 Library of Congress Catalog Card No. 66-12631 © 1966 Springer Science+Business Media New York Originally published by International Federation of Automatic Control Dusseldorf, Germany in 1966 Softcover reprint of the hardcover 1st edition 1966 ISBN 978-1-4899-6157-0 ISBN 978-1-4899-6289-8 (eBook) DOI 10.1007/978-1-4899-6289-8 No part of this publication may be reproduced in any form without written permission from the publisher PREFACE The thirty-seven papers in this volume cover a wide field of research activities concerned with the analysis and synthesis of self adaptive, optimal and multi-level control systems. They re present the papers submitted to the 2nd IFAC Symposium on "The Theory of Self Adaptive Control Systems" which was organized by the Society of Instrument Technology at the request of the United Kingdom Automation Counci I acting on behalf of the Theory Commit tee of IFAC under the chairmanship of Prof. John G~ Truxal. The meeting was held at the National Physical Laboratory, Teddington, England from September 14-17, 1965 by kind permission of the Di rector of the Laboratory, Dr. J. V. Dunworth. The Symposium was attended by 150 people from 17 countries. The sessions were recorded and the discussions were subsequently summarized by scientific reporters. These summaries are believed to correctly convey the essence of the points discussed. Written discussion remarks, submitted after the Symposium, are reproduced in ful I, together with the author's reply where appropriate. The grouping of the papers into symposium sessions has been rearranged slightly in the Proceedings to accommodate papers which were sub mitted for post publication only. The help of alI the organizations and individuals who pre pared and organized the Symposium, gave papers and contributed to d(scussions, recorded and edited these discussions and helped with the editing of the Proceedings is gratefully acknowledged. P. H. HAMMOND Editor Teddington, Middlesex May, 1966 v ACKNOWLEDGMENTS SPONSORING ORGANIZATIONS INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL CIFAC) President: Prof. J. F. Coales Hon. Secretary: Dr. G. Ruppel United Kingdom IFAC, Postfach 10 250 Dusseldorf, West Germany UNITED KINGDOM AUTOMATION COUNCIL (UKAC) President: Prof. J. F. Coales United Kingdom ORGANIZING SOCIETY HOST ESTABLISHMENT SOCIETY OF INSTRUMENT TECHNOLOGY The National Physical Laboratory Teddington, Middlesex, England President: S. S. Carl isle Past President: Prof. G. D. S. Maclellan Director: Dr. J. V. Dunworth ORGANIZING COMMITTEE Chairman: Prof. J. H. Westcott (UK) Secretary: R. M. Wilde (UK) Prof. J. G. Balchen (Norway) Cmdr. A. A. W. Pollard CUK) P. A. N. Briggs (UK) J. F. M. Scholes (UK) Capt. T. W. E. Dommett (UK) Prof. J. G. Truxal (USA) P. H. Hammond CUK) Prof. A. A. Voronov (USSR) Prof. G. D. S. Maclellan (UK) SESSION CHAIRMEN Prof. J. G. Balchen (Norway) S. L. H. Clarke CUK) P. H. Hammond (UK) G. D. S. Maclellan CUK) Dr. V. J. Rutkovsky (USSR) Prof. J. H. Westcott (UK) REPORTING AND EDITORIAL SUPPORT COMMITTEE P. A. N. Briggs (UK) Dr. A. T. Fuller (UK) J. M. C. Clark CUK) Dr. A. D. G. Hazlerigg CUK) I. G. Cumming (UK) D. Q. Mayne (UK) Dr. W. Fincham (UK) I. H. Rowe (UK) Staff of the Machine Translation and Systems Research Group, Autonomies Division, National Physical Laboratory. vii CONTENTS PREFACE . v ACKNOWLEDGMENTS vii ADAPTIVE AND OPTIMAL CONTROLLERS USING STOCHASTIC THEORY A CLASS OF LEARNING CONTROL SYSTEMS USING STATISTICAL DECISION PROCESSES 3 K. S. Fu ADMISSIBLE ADAPTIVE CONTROL • 14 H. Kwa kernaa k A GRADIENT METHOD FOR DETERMINING OPTIMAL CONTROL OF NON-LINEAR STOCHASTIC SYSTEMS . 19 D. Q. Mayne SUMMARY OF DISCUSSION - PREDICTION OF THE OPTIMAL CONTROL SEQUENCE . 28 V. N. Novoseltsev ADAPTIVE CONTROL IN BIOLOGICAL SYSTEMS SELF-ADAPTIVE RETINAL PROCESSES AND THEIR IMPLICATIONS TO ADAPTIVE CONTROL 35 Jan J. Kulikowski ADAPTIVE FUNCTIONS OF MAN IN VEHICLE CONTROL SYSTEMS 43 Y. T. Li L. R. Young J. L. Me i ry AUTONOMIC CONTROL OF RESPIRATION . 57 W. F. Fincham I. P. Priban METABOLIC CONTROL IN THE MAMMALIAN MICROCIRCULATION • 64 A. S. I bera I I S. Z. Cardon THE METHOD OF ADAPTIVELY CONTROLLED PSYCHOLOGICAL LEARNING EXPERIMENTS . 70 Gordon Pask G. L. Ma II en GENERAL DISCUSSION OF PAPERS ON ADAPTIVE CONTROL IN BIOLOGICAL SYSTEMS . 87 ix PARAMETER ESTIMATION AND MODELLING TECHNIQUES AN OPEN-LOOP PROCEDURE FOR PROCESS PARAMETER ESTIMATION USING A HYBRID COMPUTER . 91 Paul Alper NUMERICAL IDENTIFICATION OF LINEAR DYNAMIC SYSTEMS FROM NORMAL OPERATING RECORDS 96 Kari-Johan Astrom Torsten Boh I in MULTIVARIABLE MODELS FOR CONTROL SYSTEMS 112 H. Anthony Barker PROCESS PARAMETER ESTIMATION AND SELF ADAPTIVE CONTROL 118 Peter C. Young GENERAL WRITTEN DISCUSSION OF PAPERS ON CONTROLLERS USING STOCHASTIC DECISION PROCESSES AND SYSTEM IDENTIFICATION . 141 MODEL REFERENCE AND ADAPTIVE CONTROLLERS SYNTHESIS OF MODEL REFERENCE ADAPTIVE SYSTEMS BY LIAPUNOV'S SECOND METHOD . • 145 B. Shackcloth R. L. Butchart SOME PROBLEMS OF ANALYTICAL SYNTHESIS IN MODEL REFERENCE CONTROL SYSTEMS BY THE DIRECT METHOD OF LYAPUNOV . 153 S. D. Zemlyakov BASIC PROPERTIES AND SOME DYNAMICS PROBLEMS OF ADAPTIVE MODEL REFERENCE SYSTEMS . 157 B. N. Petrov V. Yu. Ruthkovsky I . N. Krutova ADAPTIVE CONTROLLERS WITH PARAMETER IDENTIFICATION OR PREDICTION A SELF ADAPTIVE SYSTEM EMPLOYING HIGH SPEED PARAMETER IDENTIFICATION . 165 J. F. Meredith A. J. Dymock A NON-LINEAR SELF-ADJUSTING SYSTEM WITH LINEAR PREDICTION . • 178 P. F. Klubnikin METHODS OF SYNTHESIS OF STRUCTURES EQUIVALENT TO SELF-ADJUSTING SYSTEMS FOR PLANTS WITH VARIABLE PARAMETERS . 186 M. V. Meerov ON A METHOD OF SYNTHESISING SYSTEMS WHICH ARE SELF ADAPTIVE TO VARYING PARAMETERS 195 K. T. Tsaturyan AN ADAPTIVE LAGGING SYSTEM 198 A. P. Roberts SOME PROBLEMS IN THE DEVELOPMENT OF ADAPTIVE SYSTEMS USING THE SENSITIVITY OPERATOR • 204 Juraj V. Medanic Petar V. Kokotovic X ADAPTIVE DIRECT DIGITAL CONTROL WITH MULTI-PARAMETER ADJUSTMENT • 213 Roger M. Bakke OPTIMAL AND MULTILEVEL CONTROL SYSTEMS SEMIDYNAMIC OPTIMAL CONTROL • 223 J. G. Balchen A. B. Aune A METHOD FOR USING WEIGHTING FUNCTIONS AS SYSTEM DESCRIPTION IN OPTIMAL CONTROL . • 234 J. Dawkins P. A. N. Briggs AN OPTIMAL CONTROL SYSTEM HAVING A NON-UNIQUE SOLUTION OF PONTRYAGIN'S EQUATIONS . • 240 M. Masubuch i H. Kanoh MULTI-LEVEL CONTROL SYSTEMS 252 J. D. Pearson ON A METHOD OF COMPENSATION AGAINST PARAMETRIC DISTURBANCES 257 S. V. Yemel 1yanov M. A. Bermant N. E. Kostylova V. I. Utki n CONTROL USING PERTURBATION TECHNIQUES A MULTI-DIMENSIONAL SELF-OPTIMIZING CONTROL SYSTEM INVOLVING DYNAMICS AND DISTURBANCES, EMPLOYING RELAY EXTREMUM CONTROL • 263 G. Broekstra C. J. D. M. Verhagen J. A. van Arkel THE USE OF PSEUDO-RANDOM SIGNALS IN ADAPTIVE CONTROL . • 274 J. L. Douce K. C. Ng LIMIT CYCLE CONDITIONS IN OPTIMALIZING CONTROLLERS 281 Virgi I W. Eveleigh EXTREMUM CONTROL IN THE PRESENCE OF VARIABLE PURE DELAY 290 M. H. Hamza DESIGN OF THE ADAPTIVE FEEDBACK LOOP IN PARAMETER-PERTURBATION ADAPTIVE CONTROLS • 299 R. E. Kronauer P. G. Drew SOME QUESTIONS OF LEARNING OPTIMIZATION OF LARGE-SCALE PROCESSES 309 M. Orban HILLCLIMBING ON HILLS WITH MANY MINIMA 322 J. C. Hill J. E. Gibson ADAPTIVE OPTIMISATION OF A WATER-GAS SHIFT REACTOR • 335 A. J. Kisiel D. W. T. Rippin xi DECOUPLING IN MULTIDIMENSIONAL EXTREMA-SEARCHING ADAPTIVE CONTROL SYSTEMS 347 Madhav Dinkar Khadkikar STEADY-STATE OSCILLATIONS DUE TO FALSE SWITCHING IN EXTREMUM CONTROL SYSTEMS 353 H. L. Burmeister GENERAL CONTRIBUTION ON THE PAPERS ON "CONTROL USING PERTURBATION TECHNIQUES" 361 AUTHOR INDEX . 363 xii