Lecture – 8

Model Reference Adaptive Control (MRAC)

(MRAC)

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Outline
Introduction
A Scalar Problem
A Toy Problem
MIMO System
MRAC Augmented with PI Feedback
A Real-life Problem

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 Introduction
Design a controller such that the actual plant
behaves like a reference model
External Reference
Command Model

Adaptive Law

Controller Plant Output

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A Scalar Problem
Actual Model:

Assumption:

Unknown function:

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 A Scalar Problem
Actual model can be written as:

Stable Reference Model:

Objective: Design a control law u(t) such that-

• Tracking error:

• All signals in the closed-loop system remain bounded in time

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A Scalar Problem
Ideal control:

Substituting ideal control in actual model:

Comparing with reference model

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 A Scalar Problem
Control input:

Substituting ideal control in actual model:

Parameter estimation error:

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A Scalar Problem
Substituting parameter estimation error:

Tracking error:

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 A Scalar Problem
Lyapunov Function:

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A Scalar Problem
Adaptive Laws:

Substituting adaptive laws,

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 Summary of Scalar Problem
Open Loop Plant:

Reference Model:

Tracking Error:

Control Input:
Adaptive Laws:

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Example (Toy Problem)

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 Example (Toy Problem)
Actual Plant:

Reference Signal:

Error:

Error Dynamic Equation:

Nominal DI Control:

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Example (Toy Problem)

Substituting Nominal control in Actual Model:

Reference Model:

Unknown Function:

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 Example (Toy Problem)
Tracking Error:

Adaptive Control:

Adaptation Laws:

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Example (Toy Problem)

(Tracking Plot)

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Example (Toy Problem)
(Control Plot)

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Example (Toy Problem)

(Error Plot)

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MRAC Design for MIMO System
Design of Reference Model from
Nominal Model
Formulation of Perturbed Model
(Actual Model)
Design of Model Reference Adaptive
Control
Lyapunov Function and Adaptive Laws

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Design of Reference Model

(using Dynamic Inversion)
Nominal Plant:
Objective:

Error:
Error Dynamic Equation:

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 Design of Reference Model
(using Dynamic Inversion)
DI Control Input:
Substituting Control in Nominal Plant:

Reference Model:
Comparing Reference Model with
Closed-Loop Nominal Plant:

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Formulation of Actual Model

Actual Model:

Assumption:
Unknown function:

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 Design of Model
Reference Adaptive Control
Objective: Design of a MIMO state feedback
adaptive control law such that

Ideal Control Law:

Substituting in Actual Model:

Comparing with Reference Model:

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Design of Model
Reference Adaptive Control
Adaptive Control Input:

Substituting in Actual Model:

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 Design of Model
Reference Adaptive Control
Parameter Estimation Error:

Substituting in Actual Model:

Tracking Error:

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Lyapunov Function
and Adaptive Laws
Lyapunov Function:

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 Lyapunov Function
and Adaptive Laws
Lyapunov Function:

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Lyapunov Function
and Adaptive Laws
Adaptive Laws:

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MIMO MRAC Design Summary

Actual Model:

Reference Model:

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MIMO MRAC Design Summary

Adaptive Control Input:

Algebraic Lyapunov Equation:

MIMO MRAC Adaptive Laws:

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MRAC Augmentation of Baseline System
with
Proportional-
Proportional-Integral Feedback

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Introduction
In most realistic applications, systems already have
a baseline controller operating under nominal
conditions (no uncertainties)
Adding uncertainties destroys its performance
Augment the baseline controller with an adaptive
controller to recover the desired performance

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 Objective
Open Loop Plant Model:

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Objective
Reference Model:

Objective:

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 Extended Open Loop Plant
Model

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Baseline Control Formulation

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Baseline Control Formulation

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Reference Model

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Adaptive Control Design

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Adaptive Control Design

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Adaptive Laws

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Adaptive Law

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 Total Control Input

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Summary
Open Loop Plant Model:

Integrated Output Tracking Error:

Augmented Plant Dynamics:

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 Summary
Extended Open Loop Plant:

Nominal Plant:

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Summary
Reference Model:

Tracking Error:

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 Summary
Adaptive Laws:

Total Control:

Algebraic Lyapunov Equation:

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Example: Fast Steering Mirror

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 Example: Fast Steering Mirror

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Example: Fast Steering Mirror

Extended Open Loop Plant:

where

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 Example: Fast Steering Mirror
Reference Model:

Tracking Error:

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Example: Fast Steering Mirror

Adaptive Laws:

Total Control:

Algebraic Lyapunov Equation:

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Example: Fast Steering Mirror

Uncertain Parameters:

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Example: Fast Steering Mirror

(Tracking Plot)
(-20% Parameter Degradation)
Nominal DI Control Model Reference Adaptive Control

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Thanks for the Attention….!!

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