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ADCS
ADCS
SYSTEMS
MRAC
IV UNIT
BY
Y.BHANUSREE
ASST. PROFESSOR
MRAC
MODEL REFERENCE ADAPTIVE CONTROL
SYSTEM
It can be considered as an ADAPTIVE SERVO
SYSTEM.
It consists of two loops inner loop &outer loop
It consists of a reference model in outer loop.
Ordinary feed back is called inner loop.
Parameters are adjusted on basis of feedback
from the error.
Error is the difference between produced output
& reference model value.
Adjustment of system parameters in
a MRAC can be obtained in two
ways.
CONTROLLER PARAMETERS
ADJUSTMENT
MECHANISM
UC U Y
CONTROLLER PLANT
J()=1/2 (e)2
And this loss function is to be minimized to make the system controlled.
To achieve this the parameters are changed in the direction of negative
gradient of J.
d = - J = - e e
dt d
This is called GRADIENT or MIT rule.
=adaptation gain
J()=|e|
is considered as vector
ASSUMPTIONS:
Process is linear with the transfer function KG(s)
G(s) is known
K is unknown parameter
DESIRED CONDITION:
Transfer function Gm(s) should be equal to KoG(s)
Ko is given constant
MODEL Ym
KOG(S)
_
-/S e
+
PROCESS
U
UC Y
KG(S)
Applications:
In robots with unknown load.
CD player where sensitivity of laser diode is not
known.
MRAC FOR A FIRST ORDER
SYSTEM
Process dy = ay+ bu
dt
e
UC -
-/S
+
PROCESS Y
KG(S)
http://www.control.hut.fi/Kurssit/AS-74.185/luennot/lu5ep.pdf
http://www.control.hut.fi/Kurssit/AS-74.185/luennot/lu6ep.pdf
http://www.control.lth.se/~FRT050/Exercises/ex4sol.pdf
http://www.control.lth.se/%7EFRT050/Exercises/ex5sol.pdf
http://www.igi.tugraz.at/helmut/Presentations/AdaptiveControl.html
http://www.irs.ctrl.titech.ac.jp/~dkura/ic2004/lec405.pdf
http://www.irs.ctrl.titech.ac.jp/~dkura/ic2004/lec406.pdf
http://mchlab.ee.nus.edu.sg/Experiment/Manuals/EE5140/adap1.pdf
http://www.rcf.usc.edu/~ioannou/RobustAdaptiveBook95pdf/Robust_Adaptive_Con
trol.pdf