Model Reference

Adaptive Control
Survey of Control Systems (MEM 800)
Presented by
Keith Sevcik
Concept
Design controller to drive plant response to mimic ideal
response (error = y
plant
-y
model
=> 0)
Designer chooses: reference model, controller structure,
and tuning gains for adjustment mechanism
Controller
Model
Adjustment
Mechanism
Plant
Controller Parameters
y
model

u y
plant

u
c

MIT Rule
Tracking error:

Form cost function:

Update rule:

Change in is proportional to negative gradient of


model plant
y y e =
) (
2
1
) (
2
u u e J =
ou
o

ou
o

u e
e
J
dt
d
= =
u J
sensitivity
derivative
MIT Rule
Can chose different cost functions
EX:








From cost function and MIT rule, control law can be
formed

<
=
>
=
=
=
0 , 1
0 , 0
0 , 1
) ( where
) (
) ( ) (
e
e
e
e sign
e sign
e
dt
d
e J
ou
o

u
u u
MIT Rule
EX: Adaptation of feedforward gain
Adjustment Mechanism
y
model

u y
plant
u
c




Reference Model
Plant
s

) ( ) ( s G k s G
o m
=
) ( ) ( s G k s G
p
=
-

+
MIT Rule
For system where is unknown

Goal: Make it look like

using plant (note, plant model
is scalar multiplied by plant)
) (
) (
) (
s kG
s U
s Y
=
k
) (
) (
) (
s G k
s U
s Y
o
c
=
) ( ) ( s G k s G
o m
=
MIT Rule
Choose cost function:

Write equation for error:

Calculate sensitivity derivative:


Apply MIT rule:
c o c c m m
U G k U kG U G kGU y y e = = = u
ou
o

u
u u
e
e
dt
d
e J = = ) (
2
1
) (
2
m
o
c
y
k
k
kGU
e
= =
ou
o
e y e y
k
k
dt
d
m m
o

u
= = '
MIT Rule
Gives block diagram:






considered tuning parameter
Adjustment Mechanism
y
model

u y
plant
u
c




Reference Model
Plant
s

) ( ) ( s G k s G
o m
=
) ( ) ( s G k s G
p
=
-

+

MIT Rule
NOTE: MIT rule does not guarantee error
convergence or stability

usually kept small

Tuning crucial to adaptation rate and
stability.

System
MRAC of Pendulum
( ) T d mgd c J
c 1
sin = + + u u u

c
mgd cs Js
d
s T
s
+ +
=
2
1
) (
) ( u
d
2

d
1

d
c

T
77 . 10 0389 . 0
89 . 1
) (
) (
2
+ +
=
s s s T
s u
MRAC of Pendulum
Controller will take form:
Controller
Model
Adjustment
Mechanism
Controller Parameters
y
model

u y
plant

u
c

77 . 10 0389 . 0
89 . 1
2
+ + s s
MRAC of Pendulum
Following process as before, write
equation for error, cost function, and
update rule:
model plant
y y e =
) (
2
1
) (
2
u u e J =
ou
o

ou
o

u e
e
J
dt
d
= =
sensitivity
derivative
MRAC of Pendulum
Assuming controller takes the form:
( )
c plant
plant c p plant
c m p model plant
plant c
u
s s
y
y u
s s
u G y
u G u G y y e
y u u
2
2
1
2 1
2
2 1
89 . 1 77 . 10 0389 . 0
89 . 1
77 . 10 0389 . 0
89 . 1
u
u
u u
u u
+ + +
=

|
.
|

\
|
+ +
= =
= =
=
MRAC of Pendulum
( )
plant
c
c
c m c
y
s s
u
s s
e
u
s s
e
u G u
s s
e
2
2
1
2
2
2
1
2
2
2
2
1
2
2
1
89 . 1 77 . 10 0389 . 0
89 . 1
89 . 1 77 . 10 0389 . 0
89 . 1
89 . 1 77 . 10 0389 . 0
89 . 1
89 . 1 77 . 10 0389 . 0
89 . 1
u
u
u
u
u
u u
u
u
+ + +
=
+ + +
=
c
c
+ + +
=
c
c

+ + +
=
MRAC of Pendulum
If reference model is close to plant, can
approximate:
plant
m m
m m
c
m m
m m
m m
y
a s a s
a s a e
u
a s a s
a s a e
a s a s s s
0 1
2
0 1
2
0 1
2
0 1
1
0 1
2
2
2
89 . 1 77 . 10 0389 . 0
+ +
+
=
c
c
+ +
+
=
c
c
+ + ~ + + +
u
u
u
MRAC of Pendulum
From MIT rule, update rules are then:

e y
a s a s
a s a
e
e
dt
d
e u
a s a s
a s a
e
e
dt
d
plant
m m
m m
c
m m
m m
|
|
.
|

\
|
+ +
+
=
c
c
=
|
|
.
|

\
|
+ +
+
=
c
c
=
0 1
2
0 1
2
2
0 1
2
0 1
1
1

u
MRAC of Pendulum
Block Diagram
y
model

e
y
plant
u
c

1
Reference Model
Plant
s

77 . 10 0389 . 0
89 . 1
2
+ + s s

+

-
m m
m m
a s a s
a s a
0 1
2
0 1
+ +
+
m m
m m
a s a s
a s a
0 1
2
0 1
+ +
+
m m
m
a s a s
b
0 1
2
+ +
s

-
+

2
MRAC of Pendulum
Simulation block diagram (NOTE: Modeled
to reflect control of DC motor)
am
s+am
am
s+am
-gamma
s
gamma
s
Step
Saturati on
omega^2
s+am
Reference Model
180/pi
Radi ans
to Degrees
4.41
s +.039s+10.77
2
Pl ant
2/26
Degrees
to Vol ts
35
Degrees
y m
Error
Theta2
Theta1
y
MRAC of Pendulum
Simulation with small gamma = UNSTABLE!
0 200 400 600 800 1000 1200
-100
-50
0
50
100
150
ym
g=.0001
MRAC of Pendulum
Solution: Add PD feedback
am
s+am
am
s+am
-gamma
s
gamma
s
Step
Saturati on
omega^2
s+am
Reference Model
180/pi
Radi ans
to Degrees
4.41
s +.039s+10.77
2
Pl ant
1
P
du/dt
2/26
Degrees
to Vol ts
35
Degrees
1.5
D
y m
Error
Theta2
Theta1
y
MRAC of Pendulum
Simulation results with varying gammas
0 500 1000 1500 2000 2500
0
5
10
15
20
25
30
35
40
45
ym
g=.01
g=.001
g=.0001
707 .
sec 3
: such that Designed
56 . 3 67 . 2
56 . 3
2
=
=
+ +
=
,
s
m
T
s s
y
LabVIEW VI Front Panel

LabVIEW VI Back Panel
Experimental Results
Experimental Results
PD feedback necessary to stabilize system
Deadzone necessary to prevent updating
when plant approached model
Often went unstable (attributed to
inherent instability in system i.e. little
damping)
Much tuning to get acceptable response
Conclusions
Given controller does not perform well enough
for practical use
More advanced controllers could be formed from
other methods
Modified (normalized) MIT
Lyapunov direct and indirect
Discrete modeling using Euler operator
Modified MRAC methods
Fuzzy-MRAC
Variable Structure MRAC (VS-MRAC)