Model Reference Adaptive Control Design For Non Linear Plant with Parametric Uncertainty
| Main Author: | Samman, Faizal Arya |
|---|---|
| Format: | Article |
| Bahasa: | eng |
| Terbitan: |
, 2017
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| Subjects: | |
| Online Access: |
http://repository.unhas.ac.id/handle/123456789/26344 |
Daftar Isi:
- In Proc. of the 2005 International Conference on Instrumentation, Communication and Information Technology (ICICI 2005)
- The design method to develop model reference adaptive control (MRAC) for non linear plant is presented in this paper. The reference model of the MRAC is derived from stabilized linearization of non linear plant. The method has been effectively verified by simulation on non linear inverted pendulum model. The simulation experience has proved that full-state feedback control could not stabilize the inverted pendulum except for system starting from zero initial condition and no disturbance. The MRAC has been successful control non linear inverted pendulum for any bounded initial condition. The MRAC has also maintained the system performance for any change and/or non-exact values of plant parameter. In other words, MRAC can still provide satisfied control signal if the mass of pendulum stick and body changes, and/or the viscous coefficient of the pendulum is not exactly known.