Scribd
Upload
429 views22 pages

Model Reference Adaptive Control

This document discusses model reference adaptive control (MRAC) using the MIT rule. It provides an example of applying MRAC to control the angle of a pendulum. The summary is: 1) MRAC uses a reference model and adjustment mechanism to tune controller parameters to minimize error between the plant output and reference model output. 2) The MIT rule is used to update controller parameters proportionally to the negative gradient of a cost function based on tracking error. 3) For the pendulum example, the controller is designed to mimic an ideal second order model and simulation shows MRAC can control the pendulum angle but requires adding PD feedback for stability with small adaptation rates.

Uploaded by

RamaDinakaran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
429 views22 pages

Model Reference Adaptive Control

This document discusses model reference adaptive control (MRAC) using the MIT rule. It provides an example of applying MRAC to control the angle of a pendulum. The summary is: 1) MRAC uses a reference model and adjustment mechanism to tune controller parameters to minimize error between the plant output and reference model output. 2) The MIT rule is used to update controller parameters proportionally to the negative gradient of a cost function based on tracking error. 3) For the pendulum example, the controller is designed to mimic an ideal second order model and simulation shows MRAC can control the pendulum angle but requires adding PD feedback for stability with small adaptation rates.

Uploaded by

RamaDinakaran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 22

Model Reference

Adaptive Control
Concept
ymodel
Model

Controller Parameters Adjustment


Mechanism

uc
u yplant
Controller Plant

• Design controller to drive plant response to mimic ideal


response (error = yplant-ymodel => 0)
• Designer chooses: reference model, controller structure,
and tuning gains for adjustment mechanism
MIT Rule
Tracking error:

Form cost function: sensitivity


derivative

Update rule:

Change in is proportional to negative gradient of


MIT Rule
Can chose different cost functions
EX:

From cost function and MIT rule, control law can be formed
MIT Rule
• EX: Adaptation of feedforward gain
Reference Model

ymodel
Gm ( s)  koG( s)

Adjustment Mechanism
-
θ
Π
+
Plant

uc u yplant
Π
MIT Rule
• For system where is unknown

• Goal: Make it look like

using plant (note, plant model is


scalar multiplied by plant)
MIT Rule
• Choose cost function:

• Write equation for error:

• Calculate sensitivity derivative:

• Apply MIT rule:


MIT Rule
• Gives block diagram:
Reference Model

ymodel

Adjustment Mechanism
-
θ
Π
+
Plant

uc u yplant
Π

• considered tuning parameter


MIT Rule
• NOTE: MIT rule does not guarantee error
convergence or stability

• usually kept small

• Tuning crucial to adaptation rate and


stability.
MRAC of Pendulum
• System

d2
dc d1

T
MRAC of Pendulum
• Controller will take form:
ymodel
Model

Controller Parameters Adjustment


Mechanism

uc
u 1.89 yplant
Controller s  0.0389 s  10.77
2
MRAC of Pendulum
• Following process as before, write
equation for error, cost function, and
update rule:

sensitivity
derivative
MRAC of Pendulum
• Assuming controller takes the form:
MRAC of Pendulum
MRAC of Pendulum
• If reference model is close to plant, can
approximate:
MRAC of Pendulum
• From MIT rule, update rules are then:
MRAC of Pendulum
• Block Diagram
Reference Model

bm ymodel
s  a1m s  a0 m
2

-
uc + yplant +
Π
-
θ1 Plant e
Π
θ2

Π Π
MRAC of Pendulum
• Simulation block diagram (NOTE: Modeled
to reflect control of DC motor)
MRAC of Pendulum
• Simulation with small gamma = UNSTABLE!
150
ym
g=.0001

100

50

-50

-100
0 200 400 600 800 1000 1200
MRAC of Pendulum
• Solution: Add PD feedback
MRAC of Pendulum
• Simulation results with varying gammas
45
ym
g=.01
g=.001
40
g=.0001

35

30

25

20

15

10

0
0 500 1000 1500 2000 2500
Reference
[1] http://www.pages.drexel.edu/~kws23/
tutorials/MRAC/MRAC.html
[2] Model Reference Adaptive Control, Keith
Sevcik

You might also like