Model-Reference Adaptive-Control Scheme for Servo Systems based on the Coefficient-Plane Method

Abstract

A new adaptive-control scheme based on the coefficient plane theory is presented. The MRAC scheme has a small number of parameters to be estimated. Updating the controller, after the estimation stage, is based on the sensitivity function of the whole system. The scheme is especially easy to realize for systems controlled by a sequence of steps (point to point) similar to the common policy in many robot servo systems. A simulation example of a simple third order SISO system controlled by the proposed adaptive scheme is presented. The estimation is based on the analysis of the output signal and on the identification of the coefficient plane parameters b and c of the entire system The adaptive-control law is then uniquely computed.