|
|||||
|
|
The study on the model reference adaptive control with proportional derivative action |
|
| Authors: | Jakub Bernat Slawomir Stepien |
| Affiliation: | 1. Faculty of Computer Engineering , Poznan University of Technology , Piotrowo 3a, 60-695, Poznań , Poland jakub.bernat@put.poznan.pl;3. Faculty of Computer Engineering , Poznan University of Technology , Piotrowo 3a, 60-695, Poznań , Poland |
| Abstract: | This article presents a study on the novel method of model reference adaptive control (MRAC). As a new contribution, the derivative action is included into MRAC control to improve the controller performance and efficiency. The stability is analysed using a recent technique called immersion and invariance. The simulations of derived laws are presented based on nonlinear models. |
| Keywords: | adaptive control model reference adaptive control immersion and invariance nonlinear control Lyapunov stability motor control |