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MIT RULE
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MIT rule
Concept
RMAC: reference model adaptive control
ymodel objective: design a controller for all systems
Model
uc
u yplant
Controller Plant
1-2
MIT rule
MIT Rule
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MIT rule
MIT Rule
Can choose different cost functions
EX:
J ( ) e( )
d e
sign (e)
dt
1, e 0
where sign (e) 0, e 0
1, e 0
From cost function and MIT rule, control law can be
formed
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MIT rule
MIT Rule
EX: Adaptation of feedforward gain
Reference Model
ymodel
Gm ( s ) koG ( s )
Adjustment Mechanism
-
θ
Π
s +
Plant
uc u yplant
Π G p (s) k G (s)
1-5
MIT rule
MIT Rule
Y ( s)
For system kG( s) where k is unknown
U ( s)
Y (s)
Goal: Make it look like koG ( s)
U c (s)
using plant Gm ( s ) koG ( s ) (note, plant model is scalar
multiplied by plant)
1-6
MIT rule
MIT Rule
Choose cost function:
1 2 d e
J ( ) e ( )
e
2 dt
Write equation for error:
e y ym kGU GmU c kGU c k oG U c
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MIT rule
MIT Rule
Gives block diagram:
Reference Model
ymodel
Gm ( s ) koG ( s )
Adjustment Mechanism
-
θ
s
Plant
Π
+
uc u yplant
Π G p (s) k G (s)
1-8
MIT rule
MIT Rule
1-9
MIT rule
MRAC of Pendulum
mô phỏng thử?!
System
J c mgdc sin d1 T
(s)
d2
d1
dc d1
2
T ( s ) Js cs mgdc
T
(s) 1.89
2
T ( s ) s 0.0389 s 10.77
1-10
MIT rule
MRAC of Pendulum
uc
u 1.89 yplant
Controller s 0.0389 s 10.77
2
1-11
MIT rule
MRAC of Pendulum
e y plant ymodel
1 2
J ( ) e ( ) sensitivity
derivative
2
d J e
e
dt
1-12
MIT rule
MRAC of Pendulum
1uc 2 y plant
1.89
y plant G p u 2
s 0.0389s 10.77
1.891
y plant 2 uc
s 0.0389s 10.77 1.89 2
1-13
MIT rule
MRAC of Pendulum
1.891
e 2 uc Gmuc
s 0.0389 s 10.77 1.89 2
e 1.89
2 uc
1 s 0.0389 s 10.77 1.89 2
e 1.89 2 1
uc
2
s 0.0389 s 10.77 1.89 2
2
2
1.891
2 y plant
s 0.0389 s 10.77 1.89 2
1-14
MIT rule
MRAC of Pendulum
e a1m s a0 m
2 uc
1 s a1m s a0 m
e a1m s a0 m
2 y plant
2 s a1m s a0 m
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MIT rule
MRAC of Pendulum
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MIT rule
MRAC of Pendulum
Block Diagram
Reference Model
bm ymodel
s a1m s a0 m
2
-
uc + 1.89 yplant +
Π
s 2 0.0389 s 10.77
-
θ1 Plant e
Π
θ2
s s
a1m s a0 m a1m s a0 m
s a1m s a0 m
2 Π Π s a1m s a0 m
2
1-17