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Adaptive Control
Concept
ymodel
Model
uc
u yplant
Controller Plant
Update rule:
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
ymodel
Adjustment Mechanism
-
θ
Π
+
Plant
uc u yplant
Π
d2
dc d1
T
MRAC of Pendulum
• Controller will take form:
ymodel
Model
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