Design and Implementation of MRAC & MRAC-PID feedback for Turntable

Abstract

The paper explains a control method for turntable by feedback a PID controller with the traditional model reference adaptive controller (MRAC) based on MIT rule. The traditional MRAC is designed for first-order system with adjustment of two-variable parameter. However, the majority of plants, including turntable, are second order system. Traditional MRAC tracking performance for second order system is unsatisfactory. Control law for second order system along with extension from first to second order of MRAC is derived. The modified MRAC i.e., MRAC-PID controller is designed for the application of turntable. It enhanced the system’s dynamic performance. To assess the performance of the proposed controller, MATLAB/Simulink software was used. The article incorporates detailed analysis and comparison of MRAC as well as MRAC-PID controller based on MIT rule for the second order system. Several adaptive gains were chosen during simulation for verify the robustness of proposed controller. It is observed that MRAC would definitely be track the reference model but modified MRAC has better performance. Several performance indexes such as integral absolute error (IAE), integral time absolute error (ITAE) and integral square error (ISE) were employed to justify the proposed controller superiority.