PRIME UNIVERSITY

EFECT OF ADAPTATION GAIN IN MODEL REFERENCE ADAPTIVE

CONTROLLED SECOND ORDER SYSTEM
Prepared By
Md. Jahangir Alam
ID: 103030301004
Batch: 25th (EEE)
Mohammad Tanvirul Hasan
ID: 103030301017
Batch: 25th (EEE)

A thesis has been submitted to the Department of Electrical and Electronic

Engineering of Prime University in partial fulfillment of the requirements for the
degree of Bachelor of Science in Electrical and Electronic Engineering.
Supervised By
Md. Shafayet Hossain
Lecturer
Department of Electrical and Electronic Engineering
Prime University

2A/1, North East of Darussalam Road, Mipur-1 Dhaka-1216, Bangladesh

DECLARATION

It is hereby declared that the work presented in this thesis is the outcomes of the investigation
performed by us under the supervision of Md. Shafayet Hossain, Lecturer, Depertment of Electrical
and Electronic Engineering, Faculty of Engineering, Prime University. We also declared that on part
of this project has been submitted elsewhere for the award of any degree.

SUPERVISEDBY

PREPAREDBY

______________

________________________

Md. Shafayet Hossain

Lecturer
Department of Electrical and Electronic Engineering
Faculty of Engineering, Prime University
2A/1, North East of Darussalam Road
Mirpur-1, Dhaka-1216

Jahangir Alam
ID
: 103030301004
Batch : 25th (EEE)

_________________

Md. Tanvirul Hasan

ID
: 103030301017
Batch : 25th (EEE)

Page I

Acknowledgement:

Our deepest gratitude is to our advisor Md. Shafayet Hossain. His efficient analysis of technical
problems and solutions to them will always be a trait. We will always be indebted to our supervisor
for his unfailing support for us since our first day at the thesis period. We would like to thank Md.
Shafayet Hossain who in many ways has influenced this work and us through his professional advice.
We have spent many hours in our university for our thesis and we would like to thank to the officials
who helped us in many ways. We would like to thank Md. Mostak Ahmed, the Chairman of dept.
EEE of Prime University to support us and inspires us in many ways. We also would like to thank
Mafin Muntasir Rhman sir to encourage us & make inquire about our thesis.

Md. Jahangir Alam

ID
: 103030301004
Batch : 25th (EEE)

Mohammad Tanvirul Hasan

ID
: 103030301017
Batch : 25th (EEE)

Page II

Abstract:
In systems and control engineering, and in real practical situation suggests how the existing theory
needs to be modified to accommodate more realistic conditions on real plants. Much research has
been carried out in this area of designing controllers for real plants. Controller design is made easier
by the availability of information on the real plant (model structure, values of the plant parameters
and acting disturbances are well known); so it is straight forward to obtain a desired behavior of the
plant output. With earlier Adaptive Laws when the plant model structure is known but its parameters
are unknown, the process of developing a control scheme naturally becomes complicated. In general,
it has been a common experience to find that more complex is the plant model: the more complex is
the design of a suitable controller scheme. Adapting/adjusting the controller parameters for such
cases (where plant parameters were not accurately known), is known as Adaptive Control. A typical
adaptive controller scheme has mechanism in an additional loop (over and above the ordinary
feedback loop) for adjusting / adapting the controller parameters. The equations which describe how
these controller parameters need to be adjusted are called Adaptive Laws. Since the overall system
stability is the primary requirement, adaptive control schemes and adaptive laws have been developed
based on Lyapunov stability theory, historically since the 1960s.

Page III

Dedicated to
Our Parents
Honorable Supervisor, Md. Shafayet Hossain
and all the faculty members of
Electrical & Electronic Engineering Department

Page IV

Content
I
II
III
IV
V
VII
VII

Declaration
Acknowledgement
Dedication
Abstract
Content
List of Figures
List of Tables

Chapter-1(Introduction)
1.1

Background

1.2

Objectives

1.3

Contributions

Chapter-2 (Literature Review and Related Works)

2.1

Introduction

2.2

Related Works

2.3

Overview of the Thesis

2.4

What is Model reference adaptive control (MRAC)

2.4.1

Motivation of MRAC

2.5

Fundamental hypothesis in adaptive control

2.6

Direct & Indirect MRAC

2.7

Adaptive control -why?

2.8

Difference between MRAC & Conventional feedback controller

2.9

Application of model reference adaptive control

Page V

Chapter-3 (Effect of adaptation gain in second order system)

3.1

Time Response

3..1.1

Poles, Zeros, and System Response

3.1.2

Time Constant

3.1.3

Second order system

10

3.2

Working Principle

11

3.3

Components

11

3.4

Modeling of plant and the explicit reference model

11

3.5

Mathematical modeling

12

3.6

The MIT (Massachusetts Institute of Technology) Rule

12

3.7

Loss Function

13

3.8

Application of MIT Rule

13

3.9

Controller design criterion

14

3.10

Design of the Controller

14

3.11

Final Controller dynamics

15

Chapter-4 (Simulation & Results)

4.1
4.2
4.3
4.4

Simulink Model in Matlab

Under-damped
Over-damped
Simulation with PID Controller

Page VI

16
17
19
21

Chapter-5 (Conclusion and Future Works)

5.1
5.2

Conclusion
Future works

23
24

Reference

26

List of figures
Figure-2.1

General block diagram of MRAS

Figure-2.2

Model Reference Adaptive Control (MRAC) Scheme

Figure-2.3

Direct MRAC

Figure-2.4

Indirect MRAC

Figure-2.5

The response of MRAC & Conventional feedback controller

Figure-3.1

Second-order under-damped response specifications

Figure-3.2

Second-order response as a function of damping ratio

10

Figure-4.1

Simulated model for MIT rule

17

Figure-4.2

Difference response for difference adaptation gain

18

Figure-4.3

Simulated model for MIT rule

19

Figure-4.4

Difference response for difference adaptation gain

20

Figure-4.5

PID Controllers

21

Figure-4.6

Different response of PID Controller

22

Figure-5.1

Low pass filter

24

Figure-5.2

Modeling second order system

25

List of Table
Figure-2.1

Difference between MRAC & Conventional feedback controller

Page
VII

Chapter 1: Introduction
1.1 Background
This thesis presents the elements of model reference adaptive control, which refers to a particular
control procedure for uncertain dynamic systems. The control problem as well as the adaptive
control problem is described. The use of various models for control including identification model
and reference model is presented. The model-following in the presence adaptive control is
described. The error model approach for designing the requisite controllers is delineated. The
solution to the model reference adaptive control for linear plants is presented. Its extension to
nonlinear system is briefly mentioned. The role of parameter identification and its relation to
persistent excitation is described. Major developments in the field of model reference adaptive
control have taken place in the eighties and nineties and have been applied in a number of
practical control problems with success. Adaptive control is a very appealing technology, at least
in principle. Yet its use has been conditioned by an attitude of distrustfulness on the part of some
practitioners. In this thesis, we explain why such distrustfulness is warranted, by reviewing a
number of adaptive control approaches which have proved deficient for some reason that has not
been immediately apparent. The explanation of the deficiencies, which normally were reflected in
unexpected instabilities, is our main concern. Such explanations, coupled with remedies for
avoiding the deficiencies, are necessary to engender confidence in the technology. These include
the unpredictable failure of the MIT rule; the bursting phenomenon, and how to prevent it; the
Rohrs counterexample, which attempted to disqualify all adaptive control algorithms; the notion
that identification of a plant is only valid conceptually for a restricted range of controllers (with
the implication that in adaptive control, certain controller changes suggested by adaptive control
algorithms may introduce instability); and the concept of multiple model adaptive control. The
adaptation law attempts to find a set of parameters that minimize the error between the plant and
the model outputs. To do this, the parameters of the controller are incrementally adjusted until the
error has reduced to zero. A number of adaptation laws have been developed to date. The two
main types are the gradient and the Lyapunov approach and we have use lyapunov approach.

1.2 Objectives
(1) Specify the desired control loop performances.
(2) To know the dynamic model of the plant to be controlled.
(3) To possess a suitable controller design method making it possible to achieve the
desired performance for the corresponding plant model.
(4) To minimize the error(ideally zero)
(5) to achieve and to maintain acceptable level of performance when plant (disturbance)
model parameters are unknown or vary

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1.3 Contributions:
The main contribution of this thesis is the design of final controller dynamics using MIT rule for
systems affected by both matched and mismatched types of uncertainty. The control law is
designed in such a way that the discontinuous sign function acts on the time derivative of the
control input. So the actual control obtained after integration is continuous and hence chattering is
eliminated. Adjustable control mechanism is used to eliminate the error. The proposed idea of
model reference adaptive control is used to design for the plant system where the plant is
unknown or change with time. Adaptive controllers are a fact of life, and have been for some
decades. However, theory and practice have not always tracked one another. In this paper, we
examine several instances of such a mismatch.
These are:
The MIT rule, an intuitively based gradient descent algorithm that gave unpredictable
performance; satisfactory explanation of performance started to become possible in the 1980s.
Bursting, a phenomenon of temporary instability in adaptive control algorithm implementation
of a type observed in the 1970s; explanation and our understanding of avoidance mechanisms
only became possible in the 1980s.
The Rohrs counterexample, which argued that adaptive control laws existing at the time could
not be used with confidence in practical designs, because unmodeled dynamics in the plant could
be excited and yield an unstable control system.
Iterative controller re-design and identification, an intuitively appealing approach to updating
controllers that came to prominence in the 1980s and 1990s, and which can lead to unstable
performance. Explanation and an understanding of an avoidance mechanism came around 2000.
Multiple model adaptive control, another intuitively appealing approach to adaptive control with
the potential to include non-linear systems.

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Chapter 2: Literature Review and Related Works

2.1 Introduction
A control system is a device that regulates or controls the dynamics of any other plant or process.
Adaptive control is one of the widely used control strategies to design advanced control systems
for better performance and accuracy. Model Reference Adaptive Control (MRAC) is a direct
adaptive strategy with some adjustable controller parameters and an adjusting mechanism to
adjust them. As compared to the well known and simple structured fixed gain PID controllers,
adaptive controllers are very effective to handle the unknown parameter variations and
environmental changes. An adaptive controller consists of two loops, an outer loop or normal
feedback loop and an inner loop or parameter adjustment loop. This paper deals with designing of
adaptive controller with MRAC scheme using MIT rule to control a second order system.

2.2 Related works

*Modified MRAC methods
*Fuzzy-MRAC
*Variable Structure MRAC (VS-MRAC)
*Robust multiple model adaptive control (RMMAC)

2.3 Overview of thesis

The Model Reference Adaptive System (MRAS) is one of the main approaches to adaptive
control. Adaptive control is a technique that provides an automatic adjustment of a controller in
real time. The automatic adjustment is performed in order to maintain the controllers system
performances in case the parameters of the process are (i) unknown or (ii) changing in time. Both
cases are detailed further on. In case (i) of unknown but constant parameters, the adaptive control
technique is designed to provide in the closed loop an automatic tuning procedure; this procedure
will be applied to all the unknown but constant parameters. In case (ii) when the parameters are
changing unpredictably in time, to maintain the system performances, the control system must use
an adaptive control the original scheme for MRAS proposed by Whitaker in 1958 was introduced
for the flight control.

Page 3

Fig.2.1. General block diagram of MRAS

2.4 What is Model reference adaptive control (MRAC)

A set of techniques for automatic adjustment of the controllers in real time, in order to achieve or
to maintain a desired level of performance of the control system when the parameters of the plant
(disturbance) dynamic model are unknown and/or change in time.

Fig.2.2. Model Reference Adaptive Control (MRAC) Scheme

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2.4.1 Motivation of MRAC

In early 1950s there was an extensive research on adaptive control in connection with design of
autopilots for high performance aircraft. After a significant effort it was found that gain
scheduling was a suitable technique for flight control systems. Model reference adaptive control
was suggested by Whitaker etal, to solve the autopilot control problem. The sensitivity method
and the MIT rule was used to design the adaptive laws of the various proposed adaptive control
schemes. An adaptive pole placement scheme based on the optimal linear quadratic problem was
suggested by Kalman. The 1960s State space techniques and stability theory based on Lyapunov
were introduced. Developments in dynamic programming, dual control and stochastic control in
general, and in system identification and parameter estimation played a crucial role in the
reformulation and redesign of adaptive control. By 1966 Parks and others found a way of
redesigning the MIT rule-based adaptive laws used in the MRAC schemes of the 1950s by
applying the Lyapunov design approach. By the mid 1980s, several new redesigns and
modifications were proposed and analyzed, leading to a body of work known as robust adaptive
control. The focus of adaptive control research in the late 1980s to early 1990s was on
performance properties and on extending the results of the 1980s to certain classes of nonlinear
plants with unknown parameters.

2.5 Fundamental hypothesis in adaptive control

The operation of the adaptation loop and its design relies upon the following fundamental
Hypothesis: For any possible values of plant model parameters there is a controller with a fixed
structure and complexity such that the specified performances can be achieved with appropriate
values of the controller parameters. In the context of this book, the plant models are assumed to be
linear and the controllers which are considered are also linear. Therefore, the task of the
adaptation loop is solely to search for the good values of the controller parameters. This
emphasizes the importance of the control design for the known parameter case as well as the
necessity of a priori information about the structure of the plant model and its characteristics
which can be obtained by identification of a model for a given set of operational conditions. In
other words, an adaptive controller is not a black box which can solve a control problem in real
time without an initial knowledge about the plant to be controlled. This a priori knowledge is
needed for specifying achievable performances, the structure and complexity of the controller and
the choice of an appropriate design method.

Page 5

2.6 Direct & Indirect MRAC

When * is unknown, One way of dealing with The unknown parameter case is to use the
certainty equivalence approach to replace the unknown c* in the control law with its estimate
c(t) obtained using the direct or the indirect approach.

Fig.2.3. Direct MRAC

In direct MRAC, the parameter vector of the controller C () is updated directly by an adaptive
law, whereas in indirect MRAC is calculated at each time t by solving a certain algebraic
equation that relates with the on-line estimates of the plant parameters. In both direct and
indirect MRAC with normalized adaptive laws, the form of C ( ), motivated from the known
parameter case, is kept unchanged

Fig.2.4. Indirect MRAC

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2.7 Adaptive control -why?

High performance control systems may require precise tuning of the controller but plant
(disturbance) model parameters may be unknown or time-varying
Adaptive Control techniques provide a systematic approach for automatic on-line tuning of
controller parameters
Adaptive Control techniques can be viewed as approximations of some nonlinear stochastic
control problems (not solvable in practice)

2.8 Difference between MRAC & Conventional feedback controller

Table: 2.1 Difference between MRAC & Conventional feedback controller

Page 7

Fig. 2.5.The response of MRAC & Conventional feedback controller

2.9 Application of model reference adaptive control

Typical applications of adaptive control are (in general): Self-tuning of subsequently fixed linear
controllers during the implementation phase for one operating point; Self-tuning of subsequently
fixed robust controllers during the implementation phase for whole range of operating points;
Self-tuning of fixed controllers on request if the process behavior changes due to ageing, drift,
wear etc.; Adaptive control of linear controllers for nonlinear or time-varying processes;
Adaptive control or self-tuning control of nonlinear controllers for nonlinear processes;
Adaptive control or self-tuning control of multivariable controllers for multivariable processes
(MIMO systems) usually these methods adapt the controllers to both the process statics and
dynamics. In special cases the adaptation can be limited to the static behavior alone, leading to
adaptive control based on characteristic curves for the steady-states or to maximum value control,
optimizing the steady state. Hence, there are several ways to apply adaptive control algorithms.

Page 8

Chapter 3: Effect of adaptation gain in second order system

3.1 Time Response
Time response of a system is the time evolution of the variables. In Circuits, time response would
be the waveforms of voltage and current versus time.

3.1.1 Poles, Zeros, and System Response

Poles and Zeros of a transfer function are the frequencies for which the value of the denominator
and numerator of transfer function becomes zero respectively. The values of the poles and the
zeros of a system determine whether the system is stable, and how well the system performs.
Control systems, in the most simple sense, can be designed simply by assigning specific values to
the poles and zeros of the system. Physically realizable control systems must have a number of
poles greater than or equal to the number of zeros. Systems that satisfy this relationship are called
proper.

3.1.2 Time Constant

FIGURE 3.1 Second-order under-damped response specifications

1. Rise time, Tr. The time required for the waveform to go from 0.1 of the final value
to 0.9 of the final value.
2. Peak time, Tp. The time required to reach the first, or maximum, peak.
3. Percent overshoot, %OS. The amount that the waveform overshoots the steady state,
or final, value at the peak time, expressed as a percentage of the steady-state value.
4. Settling time, Ts. The time required for the transient's damped oscillations to
reach and stay within 2% of the steady-state value.

Page 9

3.1.3 Second order system

Natural Frequency,
The natural frequency of a second-order system is the frequency of oscillation of the system
without damping. For example, the frequency of oscillation of a series RLC circuit with the
resistance shorted would be the natural frequency.
Damping Ratio,
This ratio is constant regardless of the time scale of the response. Also, the reciprocal, which is
proportional to the
ratio of the natural period to the exponential time constant, remains the same regardless of the
time base.
We define the damping ratio, , to be

Our general second-order transfer function finally looks like this:

FIGURE 3.2 Second-order response as a function of damping ratio

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10

3.2 Working Principle

Model Reference Adaptive Control strategy is used to design the adaptive controller that works on
the principle of adjusting the controller parameters so that the output of the actual plant tracks the
output of a reference model having the same reference input.

3.3 Components
Reference Model: It is used to give an idyllic response of the adaptive control system to the
reference input.
Controller: It is usually described by a set of adjustable parameters. In this paper only one
parameter is used to describe the control law. The value of is primarily dependent on
adaptation gain.
Adjustment Mechanism: This component is used to alter the parameters of the controller so that
actual plant could track the reference model. Mathematical approaches like MIT rule, Lyapunov
theory and theory of augmented error can be used to develop the adjusting mechanism. In this
paper we are using MIT rule with Normalized Algorithm and the technique is then referred as
Modified MIT rule. The basic block diagram of MRAC system is shown in the fig.1. As shown in
the figure, ym(t) is the output of the reference model and y(t) is the output of the actual plant and
difference between them is denoted by e(t).
e(t) = y(t) - ym(t)

3.4 Modeling of plant and the explicit reference model

In this thesis a second order under damped system with large settling time, very high
maximum overshoot and with intolerable dynamic error is taken as a plant whose transfer
function is given by:
Y(p)/U(p)=16/(p2+3p+16) ---- --- (1)
A critically damped system is taken as the reference model to improve the performance of this
system by using adaptive control scheme. the reference model is described by:
Ym(p)/R(p)=25/(p2+10p+25) ----- -(2)
In this thesis a second order over damped system with large settling time, very high
overshoot and with intolerable dynamic error is taken as a plant whose transfer function is
given by:
Y(p)/U(p)=10500/(p2+1060p+10500) ---- (3)
A critically damped system is taken as the reference model to improve the performance of this
system by using adaptive control scheme. the reference model is described by:
Ym(p)/R(p)=16/(p2+8p+16) ------- (4)

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11

3.5 Mathematical modeling

Consider a stable single input single output (SISO) system
y(t) = k G(p)u(t)
where
y(t) is the system output,
G(p) is a known stable transfer function,
u(t) is a control input,
k is a constant unknown gain.
Output of the reference model is:
ym(t) = Gm(p) uc(t)= ko G(p)uc(t)
where, ko is a given constant gain.
Using the simple proportional controller
u(t) = uc(t)
We have to make y(t) track ym(t)
y(t) = k G(p)u(t) ym(t) = ko G(p)uc(t)
So that the output becomes critically damped
if is chosen as Ko/K , then

k
y(t)=k.G(p) 0.uc(t) =k.G(p) ko.uc(t) = ym(t)
3.6 The MIT (Massachusetts Institute of Technology) Rule:
According to MIT rule, the cost function or loss functions defined as
F () = e2 ----------- (1)
Where, e is the difference of the output of the reference model and the actual model, while is the
adjustable parameter known as the control parameter. In this rule the parameter is adjusted in
such a way so that the loss function is minimized
d/dt = - F / ---- (2)
d/dt = - 2e e / --- (3)
e/ , is called the sensitivity derivative of the system. This shows how the error is dependent
on the adjustable parameter, . We have used the MIT rule defined by equations (1), (2) and (3)
for developing the control law.

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12

3.7 Loss Function

Consider the loss function that measures the size of e(t,0)
2

f (t,0) = e(t,0)

Its time derivative is given by (chain rule)

d
dt

t f +

f=

f .d 0
dt

Its time derivative should be made negative

d f = . +
dt

2e

d
dt 0

.d 0
t e dt

2e

Its time derivative should be made negative

d f = . +
dt

2e

d
dt 0

.d 0
t e dt

3.8 Application of MIT Rule

Computing the partial derivative of e wrt 0 we have

d
dt

= t k.G(p)(0(t).uc(t))

k.G(p)(uc(t))

k . k G(p)(u (t))= k ym(t)

o
c
ko
ko

Then the update law for 0 becomes

d 0=
dt

where

2e

. ym(t).e(t,0)

0 is arbitrary since n =

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13

k
with arbitary
ko

3.9 Controller design criterion

Under-damped second order system is oscillatory in nature (may cause system instability)
Maximum overshoot must be low (ideally zero).
for stable operation
to reduce the transient period
improve the systems performance
Critically damped second order system is desired
It is not feasible to achieve (practically)
Performance of the system can be improved by using adaptive control scheme in a large extent.

3.10 Design of the Controller

Suppose that the system dynamics are

d
dt

y= ay + bu,

y=

b
p+a u

While the desired dynamics for the closed loop system is

d
y = am ym+ bmuc , ym=
dt m

bm
p+amuc

The proportional controller that solves the problem is given by

u(t)=01 uc(t) - 02 y(t)

Where the gains to ensure the desired system response are

01= 01o =

am - a
bm ,
02 = 01o = b
b

Introduce the error signal

b01

e(t)=y(t) - ym(t)=
p+a+b02

uc(t)-

bm
p+am

uc

Computing partial derivatives of e(.) w.r.t 01,02 we have

Page
14

e
b
u (t)
=
01 p+a+b02 c

-b
b01
e
y(t)
= (p+a+b0
2 uc(t)=
p+a+b0
2
02
2)
If y(x)=u(x)/v(x)
Then dy/dx={v.(du/dx)-u.(dv/dx)}/v2

3.11 Final Controller dynamics

This results in the following relations

d
dt

01 = - .e(t)

d
dt

01 = -

d
dt

01 = - .e(t)

d
dt

01 =

n.e(t)

b
.e(t) . p+am uc(t)

e(t)

01

am u (t)
c
p+am

n.e(t)

-b
.e(t) . p+am uc(t)

e(t)

01

am u (t)
c
p+am

Where

b
am

And should be positive

Page
15

Chapter 4: Simulation & Results

4.1 Simulink Model in Matlab
The second-order (under damped) system is described by:
d2 y/dt2 = -a (dy/dt) -by+ b u
where, a=3 and b=16
Where y is the output of plant (second order under damped system) and u is the controller output
or manipulated variable the transfer function can be written as:
Y(p)/U(p)=16/(p2+3p+16)
Similarly the reference model is described by:
d2 ym/dt2 = -am dym/dt - bm ym + bm r
Taking am =8 and bm=16
Where ym is the output of reference model (second order critically damped system) and r is the
reference input (unit step input). The transfer function is written as:
Ym(p)/R(p)=25/(p2+10p+25)
The second order system (over damped) is described by:
d2 y/dt2 = -a (dy/dt) -by+ b u
where a=1060 and b=10500
Where y is the output of plant (second order over damped system) and u is the controller output or
manipulated variable the transfer function can be written as:
Y(p)/U(p)=10500/(p2+1060p+10500)
Similarly the reference model is described by:
d2 ym/dt2 = -am dym/dt - bm ym + bm r
Taking am =8 and bm=16
Where ym is the output of reference model (second order critically damped system) and r is the
reference input (unit step input). The transfer function is written as:Ym(p)/R(p)=16/(p2+8p+16)

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16

4.2 Under-damped

Figure 4.1: Simulink model for MIT rule

Page
17

Output response for different adaptation gain

Figure 4.2: Difference response for difference adaptation gain

Page
18

4.3 Over-damped

Figure 4.3: Simulink model for MIT rule

Page
19

Output response for different adaptation gain:

Figure 4.4: Difference response for difference adaptation gain

Page
20

4.4 Simulation with PID Controller

Figure: 4.5 PID Controllers

Page
21

Different response for PID Controller

Figure: 4.6 Different response of PID Controller

We observed from above simulation of MRAC &PID controller that PID controller varies if only
one parameter vary. But MRAC adjusts if plant parameter varies with time or unknown. This is
the main difference between them.

Page
22

Chapter 5 (Conclusion and Future Works)

5.1 Conclusion
A detailed discussion on MRAC scheme using MIT rule is done in this book and the performance
evaluation is carried out by means of simulations on SIMULINK. Figure 4.1 & 4.3 compares the
results of MIT scheme for different values of adaptation gain. It has been observed from fig. (4.2)
that the response of the system improves with the increment in adaptation gain but beyond a
certain limit (-1.0> >1.2) & from figure (4.4) that limit (-2> >1) the performance of the system
becomes very effective. In this book, the MIT rule is applied in many different cases. The
selection of adaptation gain is very important and depends on the signal levels. The Normalized
algorithm, used in this book, is less sensitive even for very large and very small amplitudes of
reference input. Therefore, it is shown in this book that for suitable values of adaptation gain, the
MIT rule with normalization can make the plant to follow the model as accurately as possible.

5.2 Future works

We can take a low pass filter as a reference model which is designing like critycally second order system.
Low pass filter design like critically second order system is given below:
L

+
C

V(t)

Vc(t)

I(t)

Figure5.1 Low pass filter

Summing the voltages around the loop, assuming zero initial conditions, yields the integral
differential equation for this network as

di(t ) + Ri(t ) + 1
C
dt

t
i ( ) d = v(t)
o

Changing variables from current to charge using i(t)=dq(t) dt yields

d2q(t)
1
dq(t)
q(t)= v(t)
+
+R
2
C
d(t)
dt

From the voltage-charge relationship for a capacitor in Table2.3

q(t) = Cvc(t)
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23

Substituting Eq. (2.63) into Eq. (2.62) yields

d2vc(t)
dvc(t)
LC
+ vc(t)= v(t)
+RC
2
d(t)
dt
Taking the Laplace transform assuming zero initial conditions, rearranging terms, and simplifying
yields

(LCs2+RCs+1)Vc(s)=V(s)
Solving for the transfer function, Vc(s) / V(s), we obtain
Vc(s)
=
V(s)

V(s)

1'LC
s2 +

R
1
s+
L
LC

1
LC
1
R
S2+
S+
L
LC

Vc(s)

Figure5.2: Modeling second order system

If we similar this model as critical second order system such as
25/S2+10s+25
Then,
1/LC = 25,

R/L= 10

If we assume L= 1H, then, R=10 ohm and c=0.04Uf.

Finally we can design the low pass filter like critically second order system as reference model for the
system. We can make this model as device from pspice & we can use this device in the plant as a reference
model. Similarly we can use High pass filter, DC motor, DC generator, speed control device etc. After
completing second order system we can develop third order system similarly.

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References

1. Adaptive Control Landau, Lozano, MSaad, Karimi.

2. FAILURES OF ADAPTIVE CONTROL THEORY AND THEIR RESOLUTION BRIAN
D.O. ANDERSON
3. I.D. Landau et al., Adaptive Control, Communications and Control Engineering,
DOI 10.1007/978-0-85729-664-1_1, Springer- Verlag London Limited 2011
4. IACSIT International Journal of Engineering and Technology, Vol.2, No.5, October 2010
ISSN: 1793-8236
5. MODEL REFERENCE ADAPTIV CONTROL FOR A DC ELECTRICAL DRIVE
S. COMAN1 Cr. BOLDIOR1
6. Sensorless Speed Control of Induction Motor Using MRAS G. Pydiraju, M. Daivaasirvadam

7. DIGITAL ADAPTIVE CONTROL SYSTEM DES FOR A PARTICULAR CLASS OF

HYDRAULIC SYSTEMS UDC 681.523.4:621.642.3:517.9(045)
8. MASSACHUSETTS INSTITUTE OF TECHNOLOGY DEPARTMENT OF MECHANICAL
ENGINEERING 2.151 Advanced System Dynamics and Control
9. Adaptive Control: Introduction, Overview, and Applications Eugene Lavretsky, Ph.D.
10. ADAPTIVE SECOND ORDER SLIDING MODE CONTROL STRATEGIES FOR
UNCERTAIN SYSTEMS SANJOY MONDAL

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