White Paper: Adaptive Output Tracking of Driven Oscillators
Heart dynamics are usually unknown and require the application of real-time control technique because of the fatal nature of most cardiac arrhythmias. The problem of controlling the heart dynamics in a real-time manner is formulated as an adaptive learning output-tracking problem. For a class of nonlinear dynamic systems with unknown non linearities and non affine control input , aLyapunov-based technique is used to develop a control law. An adaptive learning algorithm is exploited that guarantees the stabilityof the closed-loop system and convergence of the output tracking error to an adjustable neighborhood of the origin. In addition,good approximation of the unknown non linearities is also achieved by incorporating a persistent exciting signal in the parameterupdate law. The effectiveness of the proposed method is demonstrated by an application to a cardiac conduction system modelledby two coupled driven oscillators.