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