Model reference adaptive control book

Indirect model reference adaptive control for a class of fractional. Model reference adaptive control mrac was suggested by whitaker et al. Gang taos adaptive control books university of virginia. This book presents the fundamental theories of least squares function approximation and leastsquares adaptive control of systems.

I am trying to use model reference adaptive control mrac based on lyapunovs rule on a system. A model reference adaptive control is an adaptive version of exact model matching. Places substantial emphasis on practical issues, enriching knowledge of applications of adaptive control. This makes it much easier to teach to students who lack a background in stability theory. This part also shows the robustness and superior tracking and regulation properties of model reference adaptive control applied to liquid level control. Model reference adaptive control a primer request pdf. A definition of adaptive control useful in both theory and practice is a system specification consisting of a primary feedback to deal with process signal variations and a secondary feedback to deal with process parameter changes. This book presents the fundamental theories of leastsquares function approximation and leastsquares adaptive control of systems. A new section on adaptive control on nonlinear systems has also been added. It is assumed that the reader is familiar with the materials taught in undergraduate courses on linear systems, di. Appendix a summarizes the model reference adaptive control theory in a unified and compact form for both the continuoustime and discretetime designs with. One of the most common strategies for this type of systems is to include a reference model that is replicated by the vehicles in the network, model reference adaptive control mrac is a control. The chapter on model reference adaptive control has been expanded substantially.

The key results on stability theory are now derived from first principles. The chapter takes a discrete time robust direct adaptive control algorithm with a dead zone as an example. How to select a reference model for model reference adaptive. Control parameters, the total number of which is 2n, are replaced by their respective estimates to construct an adaptive control system. Part v addresses the application of process control to chemical processes and to electromechanical systems. Research in adaptive control has a long history of intense activity involving debates about the precise definition of adaptive control. Adaptive systems in control and signal processing 1989. Specific controller structures considered include those of the model reference, partial pole.

Model reference adaptive control is a wellunderstood and popular method used in the case when the plants constant parameters are unknown and must be identified. The book begins with standard modelreference adaptive control mrac for firstorder, secondorder, and multiinput, multioutput systems. The book is written in a selfcontained fashion to be used as a textbook on adaptive systems at the senior undergraduate, or. New design of model reference adaptive control systems.

An indirect model reference adaptive controller is designed and fractional order update laws are utilized to update the parameters. For the simplicity of argument, a continuoustime scalar plant is cosidered. Treatment of leastsquares parameter estimation and its extension to mrac follow, helping readers to gain a different perspective on mrac. Stability proofs are provided for all adaptive control techniques without obfuscating reader understanding. Several adaptive control methods are presented in the literature such as model reference adaptive control mrac, model predictive control mpc, artificial neural network and adaptive neurofuzzy.