engleski

MRAC With Simplified Discrete Parameter Adaptation Algorithm

The application of a simplified model reference adaptive control algorithm, with the parameter adaptation, to high order system has been considered. An algorithm was simplified in a way of reducing the order of the reference model and the order of the state vector. The reference model was reduced to the third order, and only the output variable of the system was used in the algorithm. The satisfactory behaviour of the system was preserved by using differences of the output variable instead of its derivatives. In this way, a total number of algorithm coefficients were reduced to seven. Furthermore, an adaptive control algorithm was normalized for the usage in the whole range of referent signal changing. Adaptive control coefficients were obtained by optimization for the extreme amount of the changeable system parameter. The same coefficients could be used in whole range of the system parameter variation. Finally, it was evident from the simulation results that the application of the MRAC with the simplified discrete parameter adaptation algorithm significantly decreases the influence of the plant parameter variations and the influence of disturbance to the system behaviour.

Adaptive control; discrete adaptive control algorithm; reference model; reduced order

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