1.1.

MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

3. Second Order System Adjustment

s+5
Process : G(s) =
s2 + 4s + 3
s + 10
Model : Gm (s) = 2
s + 8s +10
0 1
A =
−3 −4
 
0
B =
1
 
0 1
Am =
−10 −8
 
0
Bm =
1
 
Control law : u(t) = m1 uc − l1 0 x(t)
     
de 0 1 0 0 0
= e+ x(t) + uc
dt −10 −8 7 − l1 0 m1 − 1
Ψ = [−x uc ]
θ = [l1 m1 ]T
   
l˙1 γ1 xe
=
ṁ1 −γ2 uc e

Figure 1.13: second order system adjustment block diagram

At
γ1 = 0.01, γ2 = 0.4

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1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

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1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

4. Second Order System Adjustment (another solution)

s+5
Process : G(s) =
s2 + 4s + 3
s + 10
Model : Gm (s) = 2
s + 8s +10
0 1
A =
−3 −4
 
0
B =
1
 
0 1
Am =
−10 −8
 
0
Bm =
1
 
Control law : u(t) = m1 uc − l1 l2 x(t)
     
de 0 1 0 0 0
= e+ x(t) + uc
dt −10 −8 7 − l1 4 − l2 m1 − 1
Ψ = [−x − ẋ uc ]
θ = [l1 l2 m1 ]T
   
l˙1 γ1 xe
 l˙2  =  γ2 ẋe 
ṁ1 −γ3 uc e

Figure 1.14: second order system adjustment block diagram

At
γ1 = 0.01, γ2 = 0.8, γ2 = 0.5

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1.1. MODEL REFERENCE ADAPTATION SYSTEMS (MRAS) Adaptive Control

Mohamed Mohamed El-Sayed Atyya Page 39 of 40

1.2. MATLAB CODES AND SIMULATION Adaptive Control

1.2 MATLAB Codes and Simulation

1 http://goo.gl/2nhYkk
2 http://goo.gl/RqIX4D
3 http://goo.gl/rOCcS6
4 http://goo.gl/Bx5Tnn
1 http://goo.gl/trRRzu
2 http://goo.gl/QrSHSW
1 http://goo.gl/hdrI90
2 http://goo.gl/DDXsR9
3 http://goo.gl/G67l2g
4 http://goo.gl/QJWWvw
1 http://goo.gl/YzgkEL
2 http://goo.gl/86ZvGi
3 http://goo.gl/cSxmF3
4 http://goo.gl/MW7zTw

1.3 References
1. Karl Johan Astrom, Adaptive Control, 2nd Edition.

2. Leonid B. Freidovich, lecture 12.

1.4 Contacts
mohamed.atyya94@eng-st.cu.edu.eg

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