MODEL REFERENCE ADAPTIVE

CONTROL
Model Reference Adaptive Systems MRAS

model
ideal
regulator ym output
parameters
adjustment
mechanism

uc y
u
regulator process
actual
output

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The parameters of the regulator are adjusted such that
the error e = y - ym becomes small. The key problem is to
determine an appropriate adjustment mechanism and a
suitable control law.

MIT rule adjustment mechanism

d e
e
dt
where determines the adaptation rate. This rule
changes the parameters in the direction of the negative
gradient of e2

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Combining the MIT rule with the control law:
u (uc y)
and computing the sensitivity derivatives e
produces the scheme:
ym
model

filter

integrator e _

e
s
multiplier +

+
process
uc _ u y
multiplier

Note: steady-state will be achieved when the input to the integrator becomes zero.
That is when y = ym 4
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Example

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Example 2

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Stability of Adaptive Loop

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Stability of Adaptive Loop

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Lyapunov Stability Theory

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LYAPUNOV EQUATION
STATE FEEDBACK
ERROR EQUATION
LYAPUNOV EQUATION
STATE-SPACE MODELS: ADAPTATION OF THE
FEEDFORWARD GAIN
OUTPUT FEEDBACK
KALMAN-YAKUBOVICH LEEMA