Presentation #1

Group 3

Carlos Domene, Keshav K Rangan, Wonyup Song

January 2015

Outline
INDEX

Introduction to MIT Rule

Problem #2

Problem #1
1. Overview of Simulink
Model
2. u Graph
3. y Graph
4. Kc Graph

MIT Rule

Model Reference Adaptive Control / MIT strategy is used to design the adaptive
controller that works on the principle of adjusting the controller parameters so
that the output of the actual plant tracks the output of a reference model having
the same reference input.
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MIT RULE
The aim of the this approach is to
minimize J().
Objective function: Min.J() = e2
where, e = y y*
=> error
= adjustable parameter

from the objective function,

4

MIT RULE

is known as the sensitivity.

We dont want the sensitivity of the controller to be too high as that will
lead to the controller picking up noise from the controller itself as an error
and try to nullify it. This would then lead to
oscillations.

On differentiation, we get the value of the controller gain, K

c = Gm * e * ys *

From here on it is a simple question of taking the Laplace

and solving.

Transform

. Problem #1
Design of MIT Rule based model

Overview

u graph

Mu = -0.1

Mu = -1.0

Mu = -5.0

y graph

Mu = -0.1

Mu = -1.0

Mu = -5.0

Kc graph

Mu = -0.1

Mu = -1.0

Mu = -5.0

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error graph

Mu = -0.1

Mu = -1.0

Mu = -5.0

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. Problem #2
Determine the condition for stability

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Problem #2

Step 1:
Express the given Gp in the characteristic form.
Characteristic Equation:
5s2 + 6s2 + (1-)s + = 0

Step 2:
Substitute all the coefficients of the characteristic equation into the
Routh array.

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Routh-Hurwitz Criterion:
For the characteristic equation,

The Routh array is:

Thus, for the given problem:
an =
a2 = (1-)
b1 = (6-11)/6
c1 =
For the system to be stable,
>0
6/11 >

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STABILITY
= p y*2
Thus,
0 < < 6/(11py*2)
Considering the gain margin to be 2, we get:
0 < < 3/(11py*2)
The expression has different values of p and y* substituted into the equation (from the
question) and we determine the value of at which we can achieve stability.

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Thank you!
Question/suggestion?
06-708 Advanced Process Dynamics & Control
Team 3
Carlos Domene, Keshav K Ragan,
Wonyup Song