05-12-2014, 03:38 PM
i need the matlab code for the design of an MRAC controller for the inverted pendulum system
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mrac matlab code
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i need the matlab code for the design of an MRAC controller for the inverted pendulum system
27-03-2017, 03:25 PM
MRAC is a broad topic with many different applications and methods. The purpose of this tutorial is to introduce the design of an MRAC using the MIT rule. The theory is explained and examples are used to illustrate the concepts. The MIT rule is then applied to control the movement of a pendulum. The rest of the tutorial demonstrates the simulation and experimental implementation of MRAC in the pendulum system. Model Reference Adaptive Control (MRAC) scheme using the MIT rule for the adaptation mechanism. In this rule, a cost function is defined as an error function between the outputs of the plant and the reference model, and the parameters of the controller are adjusted in such a way that this cost function is minimized. The designed controller gives satisfactory results, but is very sensitive to changes in the amplitude of the reference signal. It follows from the simulation work performed in this paper that the adaptive system becomes unstable if the value of the adaptation gain or the amplitude of the reference signal is sufficiently large. This article also refers to the use of the MIT rule in conjunction with the standardized algorithm to handle variations in the reference signal, and this adaptation law is known as the modified MIT rule. The performance of the proposed control algorithms is evaluated and shown by simulation in MATLAB and Simulink. A control system is a device that regulates or controls the dynamics of any other plant or process. Adaptive control is one of the control strategies widely used to design advanced control systems for better performance and accuracy. Model Reference Adaptive Control (MRAC) is a straightforward adaptation strategy with some adjustable controller parameters and an adjustment mechanism to adjust them. Compared to well-structured and well-established PID controllers, adaptive controllers are very effective at handling unknown parameter variations and environmental changes. An adaptive controller consists of two loops, an external loop or a normal feedback loop and an internal loop or a parameter setting loop. This article discusses the design of an adaptive controller with MRAC scheme using the MIT rule to control a second order system.
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