European Journal of Scientific Research ISSN 1450-216X Vol.57 No.1 (2011), pp.156-174 EuroJournals Publishing, Inc. 2011 http://www.eurojournals.com/ejsr.

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Design of Intelligent Adaptive Control using Neural Network and Fuzzy Logic Controller
R. Prakash Department of Electrical and Electronics Engineering Muthayammal Engineering College, Rasipuram, Tamilnadu, India-636102 E-mail: prakashragu@yahoo.co.in R. Anita Department of Electrical and Electronics Engineering Institute of Road and Transport Technology, Erode, Tamilnadu, India-638316 E-mail: anita_irtt@yahoo.co.in Abstract In this paper, two novel intelligent model reference adaptive control schemes are proposed. First is the Neural Network-based Model Reference Adaptive Control scheme (NN-MRAC) and second is the Fuzzy logic Controller-based Model Reference Adaptive Control scheme (FLC-MRAC). The NN-MRAC scheme formed to replace the classical PI controller used in conventional model reference adaptive scheme by a neural network. The FLC-MRAC schemes formed to replace the classical PI controller used in conventional model reference adaptive scheme by a fuzzy logic controller. The proposed schemes can significantly improve the system behavior and force the system to follow the reference model and minimize the error between the model and plant output. A detailed simulation comparison between the conventional and new schemes is carried out with an example. Superior performance has been obtained using the neural network and fuzzy logic controller used in MRAC scheme.

Keywords: Model Reference Adaptive Controller (MRAC), Neural Network (NN), Fuzzy Logic Controller (FLC), Proportional-Integral (PI) controller

1. Introduction
In the adaptive literature, the question of control of nonlinear systems with present- day sophistication and complexities has often been an important research area due to the difficulties in modeling, nonlinearities and uncertainties. Model Reference Adaptive Control (MRAC) is one of the main schemes used in adaptive system. Recently Model Reference Adaptive Control has received considerable attention, and many new approaches have been applied to practical process [1], [2].In the MRAC scheme, the controller is designed to realize plant output converges to reference model output based on assumption that plant can be linearized. Therefore this scheme is effectively for controlling linear plants with unknown parameters. However, it may not assure for controlling nonlinear plants with unknown structure. In recent years, an Artificial Neural Network (ANN) and Fuzzy logic techniques has become very popular in many control applications due to their higher computation rate and ability to handle nonlinear system. Some of the relevant research work including ANN as a part of

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control scheme is illustrated next. A robust adaptive control of uncertain nonlinear system using neural network is discussed in [3] .Various types of NN have been efficiently utilized in identification of nonlinear systems [4],[5]. A variety of algorithms are utilized to adjust the weight of the NN. In a typical multilayered NN, the weights in the layers can be adjusted as to minimize the output error between the NNs output and the observed output. The back propagation algorithm for efficiently updating the weight is useful in many applications such identification of nonlinear systems. Off-line iterative algorithm can be employed in such care of identification or modeling. However, in the aspect of control, the NN should work in on line manner. In the control system structure, the output of NN is the control input to the nonlinear controlled system. i.e., there is the unknown nonlinear system between the NN and the output error. In this case, in order to apply any learning rules, it is need the derivatives of the system output with respect to the input [6], [7] presented a simple structure of NN based feed forward controller which is equivalently an inverse of the controlled system after the NN completes learning of the weights which are adjusted to minimize the feedback error. Narendra and parthasarathy [8] has shown in general indirect approach to nonlinear discrete time neuro control scheme which consists of identification and adaptive control by using the [9] and [10] that the NN based adaptive control algorithm can cooperate well with identification of the nonlinear functions to realize a nonlinear adaptive control when the nonlinear adaptive control when the non linear control scheme is feedback linearizable. Kamalsudan and Ghandakly [11] presented a fighter aircraft pitch controller evolved from a dynamic growing RBFNN in parallel with a model reference adaptive controller. The abilities of a neural network for nonlinear approximation and development for nonlinear approximation and the development of a nonlinear adaptive controller based on neural networks has been discussed in many works [12], [13]. The use of neural networks for identification and control of non linear system has been demonstrated in [14] discusses a direct adaptive neural network controller for a class of non linear system. An Adaptive Inverse Model Control System (AIMCS) is designed for the plant, and two Radial Basis Function (RBF) neural networks are utilized in the AIMCS discussed in [15]. An adaptive-neuro-fuzzy-based sensor less control of a smart-material actuator is presented in [16].It is well known that fuzzy technique has been widely used in many physical and engineering systems, especially for systems with incomplete plant information [17]-[22]. In addition to fuzzy logic, it has been widely applied to controller designs for nonlinear systems [23][27]. A novel fuzzy model reference based controller for controlling nonlinear plants can be found in [28]. Hugang Han [29] proposed an adaptive fuzzy controller for a class of nonlinear system with disturbance. A problem of Fuzzy-Approximation-Based adaptive control for a class of nonlinear timedelay systems with unknown nonlinearities and strict-feedback structure is discussed in [30]. ChengWu Chen et al [31] discussed a proposed a method of stability analysis for a GA-Based reference ANNC which is capable of handling problems in a nonlinear system. Fuzzy Logic (FL) technique has been proposed to replace PI controllers in different error minimization applications [32], [33]. Various applications of FL have shown a fast growth in the past few years. FLC has become popular in the field of industrial control applications for solving control, estimation, and optimization problems [34]. An adaptive control approach for time-varying permanentmagnet synchronous motor (PMSM) systems with chaotic behavior is discussed in [35]. Observerbased model reference output feedback tracking control design for switched linear systems with time delay is investigated in [36]. A learning approach of combining MRAC with the use of fuzzy systems as reference models and controllers for control dynamical systems can be found in [37]. A hybrid approach by combining fuzzy controller and neural networks for learning-based control is proposed in [38].The adaptive controller is used in various practical applications have attracted much attention in the field of control engineering. This is due to their promising potential for the tasks of tackling the presence of unknown parameters or unknown variation in plant parameters with better performance than those of constant gain feedback control law. In general, the external load disturbances always exist, although it is bounded. So, the controller without considering the disturbances cannot stabilize the closed-loop control system. A solution to this problem is to incorporate dead-zone technique in the adaptive controller. With this approach, the controller will stop updating the control parameters when

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the identifier error is smaller than some threshold. Thus, it can prevent the estimated parameters from being infinity. However, the regulation error of the system will only be asymptotically bounded if large threshold is used, resulting in undesirable closed-loop performance. All control techniques have their individual characteristics. Hence, combining the merits of the adaptive control with that of the neural network control theories and then designing a new stabilizing controller will have better performance than that based on one control theory PI controllers are widely used in industrial control systems applications. They have a simple structure and can offer a satisfactory performance over a wide range of operation. Therefore, the majority of adaptation schemes described in the literature for MRAS employ a simple fixed-gain linear PI controller to generate the estimated output. However, due to the continuous variation in the plant parameters and the operating conditions, in addition to the nonlinearities present in the plant, PI controllers may not be able to provide the required performance. Not much attention has been devoted to study other types of adaptation mechanisms used to minimize the error to obtain the estimated output. In this paper, this point is addressed by presenting two novel intelligent model reference adaptive control schemes are proposed to replace the classical PI controller used in conventional model reference adaptive scheme by a neural network or fuzzy logic controller. A NN- MRAC scheme is proposed to improve the tracking performance. Furthermore, a FLC-MRAC is proposed as another nonlinear optimizer, which ensures plant output trajectory tracks the reference model output trajectory and tracking error is zero with minimum time as possible. The neural network and fuzzy logic controller is used to compensate the nonlinearity and disturbance of the plant that is not taken into consideration in the conventional MRAC. The role of model reference adaptive controller is to perform the model matching for the uncertain linearized system to a given reference model. The paper is organized as follows. Section 2 proposes the structure of an MRAC design. Section 3 describes the PI controller-based model reference adaptive controller and Section 4 and 5 describe the discussion of the proposed schemes. Section 6 analyses the result and discussion of the proposed schemes and the conclusions are given in section 7.

2. Structure of an MRAC design

The MRAC is one of the major approaches in adaptive control. The desired performance is expressed as a reference model, which gives the wished response to an input signal. The adjustment mechanism changes the parameters of the regulator by minimizing the error between the system output and the reference model. 2.1. The Plant Model and Reference Model System To consider a Single Input and Single Output (SISO), Linear Time Invariant (LTI) plant with strictly proper transfer function (1) Z (s) y (s) G (s) = = K
P p p

(s)

(s)

where up is the plant input and yp is the plant output .Also, the reference model is given by
G m (s) = ym (s) = K r (s)
m

Z m (s) Rm (s)

(2)

where r and ym are the models input and output. Define the output error as (3) e = y p ym Now the objective is to design the control input Umr such that the output error, e goes to zero asymptotically for arbitrary initial condition, where the reference signal r(t) is piecewise continuous and uniformly bounded. The plant and reference model satisfy the following assumptions

Design of Intelligent Adaptive Control using Neural Network and Fuzzy Logic Controller Assumptions 1. Zp(s) is a monic Hurwitz polynomial of degree mp 2. An upper bound n of degree np of Rp(S) 3. The relative degree n*= np - mp of G(s) 4. The sign of the high frequency gain Kp are known 5. Zm(s), Rm(s) are monic Hurwitz polynomials of degree qm, pm respectively, where pm n 6. The relative degree nm*= pm- qm of Gm(s) is the same as that of G(S), i.e., nm*= n* 2.2. MRAC with Relative Degree n =1 As in Ref [1] the following input and output filters are used,

159

1 = F1 + gu p

(4)

2 = F2 + gy p
where F is an (n 1) * (n 1) stable matrix such that det ( SI F ) is a Hurwitz polynomial whose roots include the zeros of the reference model and that (F,g) is a controllable pair. It is defined as the regressor vector T = [1T , 2 , y p , r]T (5) In the standard adaptive control scheme, the control Umr is structured as U mr = T (6) T where = [1 , 2 , 3 , C0 ] is a vector of adjustable parameters, and is considered as an estimate of a vector of unknown system parameters * . The dynamic of tracking error

~ e = Gm (s) p * T
Km

(7)

~ Where P * = K p and = ( t ) * represents parameter error. Now in this case, since the

~ transfer function between the parameter error and the tracking error e is strictly positive real (SPR) [1], the adaptation rule for the controller gain is given by (8) = e1 sgn(P ) where is a positive gain. The adaptive laws and control schemes developed are based on a plant model that is free from disturbances, noise and unmodelled dynamics. These schemes are to be implemented on actual plants that most likely to deviate from the plant models on which their design is based. An actual plant may be infinite in dimensions, nonlinear and its measured input and output may be corrupted by noise and external disturbances. It is shown by using conventional MRAC that adaptive scheme is designed for a disturbance free plant model and may go unstable in the presence of small disturbances.

3. PI Controller-Based Model Reference Adaptive Controller

The PI algorithm remains the most popular approach for industrial process control, despite continual advances in control theory. This is because the PI algorithm has a simple structure which is conceptually easy to understand and implement in practice but also the algorithm provides adequate performance in the vast majority of applications. A PI controller may be considered as an extreme form of a phase lag compensator. The transfer function of PI Controller is generally written in the Parallel form given by (9) or the ideal form given by (10). U (S ) K (9) G (S ) = = K +
pi i PI

E (S )

= K P (1 +

1 ) Ti

(10)

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where Upi(s) is the control signal acting on the error signal E(s), Kp is the proportional gain, Ki is the integral gain and Ti is the integral time constant. The two term functionalities are highlighted by the following. The proportional term-providing an overall control action proportional to the error signal through the all pass gain factor. The integral term reducing steady state errors through low frequency compensation by an integrator The disturbance and nonlinear component are added to the plant input of the conventional model reference adaptive controller, in this case the tracking error has not reaches to zero and the plant output is not tracked with the reference model plant output. The conventional MRAC fails completely under the action of the external disturbance and nonlinearities, where a degradation in the performance due to overshoot is observed. The disturbance is considered as a random noise signal. To improve the system performance, the PI controller based Model Reference Adaptive Controller (PI-MRAC) is proposed. In this scheme, the controller is designed by using parallel combination of conventional MRAC system and PI controller. The Block diagram of PI-MRAC scheme is shown in Fig.1. The control input U of the plant is given by the following equation, (11) U = U mr + U pi + v where Umr is the output of the adaptive controller ,Upi is the output of the PI controller and v is the disturbance.

U mr = T
where is the update law vector, and is the parameter vector. The input of the PI controller is the error, in which the error is the difference between the plant output yp(t) and the reference model output ym(t). The PI controller gains can be selected as high as possible, but are limited by the noise. In this paper PI gains are obtained by trial and error method. In this case also, the disturbance and nonlinear component is added to the input of the plant. The PIMRAC improves the system performance comparing to the conventional MRAC scheme. However due to the continuous variation in the system parameters and the operating conditions, in addition to the nonlinearities present in the system, PI-MRAC scheme may not be able to provide the required performance
Figure 1: Block diagram of PI-MRAC

4. Neural Network-Based Model Reference Adaptive Controller

In this scheme, the controller is designed by using parallel combination of conventional MRAC system and neural network controller. The training patterns of neural network are extracted from the input and output of PI controller of designed PI -MRAC scheme. The block diagram of proposed neural networkbased model reference adaptive controller (NN-MRAC) is shown in Fig. 2

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This scheme is restricted to a case of Single Input Single Output (SISO) control, noting that the extension to Multiple Input Multiple Output (MIMO) is possible. To keep the plant output yp converges to the reference model output ym, it is synthesize the control input U by the following equation, U = U mr + U nn + v (12) where Umr is the output of the adaptive controller, Unn is the output of neural network and v is the disturbance
Figure 2: Block diagram of the NN- MRAC

Stability of the system and adaptability are then achieved by an adaptive control law Umr tracking the system output to a suitable reference model output, such as that the error e = yp-ym = 0 asymptotically. The NN provides an adaptive control for better system performance and solution for controlling nonlinear processes. The ANN controllers designed in most of the work use a complex network structure for the controller. The aim of this work is to design a simple ANN controller with as low neurons as possible while improving the performance of the controller. The inputs of the neural network are the error and change in error. Here the multilayer back propagation neural network is used in the proposed method. The multilayer back propagation network is especially useful for this purpose, because of its inherent nonlinear mapping capabilities, which can deal effectively for real-time online computer control. The NN of the proposed method has three layers: an input layer with 2 neurons, a hidden layer with 2 neurons and an output layer with one neuron. Let xi be the input to the ith node in the input layer, zj be the input to the jth node in the hidden layer, y be the input to the node in the output layers. Furthermore Vij be the weight between the input layer and hidden layer, Wj1 is the weight between the hidden layer and the output layer. The relations between inputs and output of NN is expressed as,
n

Z inj = Voj + xiVij

i =1

(13) (14)

z j = F ( Z _ inj )

Yin =W01 + j =1 z jW j1

(15) (16)

y = F (Yin )

where F (.) is the activation function. The sigmoid function for the activation function is chosen as follows
F ( x) = 2a a 1 + exp( x)

(17)

where > 0, a is a specified constant such as that a 0, and F(x) satisfies a<F(x) <a The aim of training to minimize the sum of square error energy function,

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E (k ) = 1 [t k y k ] 2 2

R. Prakash and R. Anita (18)

The weight are updated by using

W j1 =
W01 =

E = (t k y k ) F 1 (Y in) z j W j1

E = (t k y k ) F 1 (Y in) W01 E V ij= = F 1 ( Z inj ) xi k W j1 Vij k E V 0 j= = F 1 (Z inj) k W j1 V0 j k

(19)

(20)

where is the learning role

F (Y in ) [(a F (Y in ))(a + F (Y in ))] (Y in ) 2a F ( Z inj ) = ( a F ( Z inj ))( a + F ( Z inj )) ( Z inj ) 2a =

(21) (22)

The set of inputs and desired outputs of neural network are extracted from the PI controller of designed PI controller based MRAC scheme. A back propagation neural network is trained till a certain fixed error goal is reached. Here, the network is trained for an error goal of 0.0005. Training the Back Propagation network requires the following steps: 1. Initialize the weights and biases in the network randomly. 2. Apply inputs to the network through the input nodes. 3. Apply the target output values. 4. Calculate the error between the output and the target output. 5. Repeat steps 1-4 until the error for the entire network is acceptably low. 6. The structure of the neural network for NN-MRAC scheme is shown in Fig. 3.
Figure 3: Structure of the neural network for NN-MRAC scheme

5. Fuzzy Logic Controller -Based Model Reference Adaptive Controller

Various applications of Fuzzy Logic (FL) have shown a fast growth in the past few years. FLC has become popular in the field of industrial control applications for solving control, estimation, and optimization problems. In this section FLC is proposed to replace the PI controller of PI-MRAC scheme and it used for error minimization. In the PI-MRAC scheme, the PI controller is generating a quantity, in such a way so as to minimize a specified error. Therefore, FLC can replace the conventional PI controller to solve the optimization problem. A Fuzzy-Logic Controller based Model Reference Adaptive Controller (FLC-MRAC) scheme is proposed to improve the system performance. The controller structure proposed in this paper for the FLC-MRAC is shown in Figure 4 which consists of a parallel MRAC, and a FLC. While the MRAC forces the plant output to follow closely the output of the model which represents the desired closed loop behavior, and the FLC used for various operating conditions, the objective of the fuzzy logic control is to determine the control signal for

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controlling nonlinear processes. The error and the change in error are given input to the FLC. The rules and membership function of FLC are formed from the input and output waveforms of PI controller of designed PI-MRAC.
Figure 4: Block diagram of the FLC-MRAC

To keep the plant output yp converges to the reference model output ym, it is synthesize to control input U by the following equation, U = U mr + U fz + v (24) where Umr is the output of the adaptive controller ,Ufz is the output of the fuzzy logic controller and v is the disturbance signal U mr = T
= [1 , 2 , 3 , C0 ]T

= [1 , 2 , y p , r ]T
where is the update law vector, and is the parameter vector. The proposed FLC is a Mamdani-type rule base where the inputs are the error (e) and error change (ce) which can be defined as
e( k ) = y m ( k ) y p ( k )

ce ( k ) = e( k ) e( k 1) where ym(k) is the response of the reference model at kth sampling interval, yp(k ) is the response of the plant output at kth sampling interval, e(k) is the error signal at kth sampling interval, ce(k) is the error change signal at kth sampling interval. FLC consists of three stages: fuzzification, rule execution, and defuzzification. In the first stage, the crisp variables e(kT) and ce(kT) are converted into fuzzy variables error (e) and change in error (ce) using the triangular membership functions. Each fuzzy variable is a member of the subsets with a degree of membership varying between 0 (non-member) and 1 (full member).In the second stage of the FLC, the fuzzy variables error (e) and change in error (ce) are processed by an inference engine that executes a set of control rules containing in a rule base. The reverse of fuzzification is called defuzzification. The FLC produces the required output in a linguistic variable (fuzzy number). According to real-world requirements, the linguistic variables have to be transformed to crisp output. As the centroid method is considered to be the best well-known defuzzification method, it is utilized in the proposed method. The feature of the proposed scheme is that the FLC can compensate for the nonlinearity of the system to linearize the dynamics from the output of the adaptive controller to the system output, while the role of the adaptive controller is to perform the model-matching for the linearized system.

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5.1. Construction of Fuzzy Rules

In this paper the fuzzy rules are formulated by using the input and output waveforms of the PI controller of designed PI-MRAC scheme behavior and the experience of control engineers. Let us consider an example of a PI controller input (error), change in error and PI controller output waveforms are given by Fig.5. Fuzzy rules and membership for error (e) and change in error (ce) and output (Ufc) are created by using the Fig. 5.The developed fuzzy rules are given in Table.1
Figure 5(a): PI controller input (error), (b) change in error, (c) PI controller output (Upi)

The membership functions for fuzzy variable error (e), change in error (ce) and output (Ufc) are shown in Fig .6
Figure 6: Fuzzy controller input and output membership functions. (a) Error (e). (b)Change in Error (ce). (c) Output (Ufc)

Table 1:
1 2 3 4 5 6 7 8 9 10 11

Linguistic rule base

If error is A and change in error is A then the output is D If error is B and change in error is B then the output is F If error is C and change in error is D then the output is H If error is D and change in error is F then the output is J If error is E and change in error is C then the output is A If error is F and change in error is I then the output is K If error is G and change in error is C then the output is B If error is H and change in error is H then the output is I If error is I and change in error is C then the output is C If error is J and change in error is E then the output is E If error is K and change in error is G then the output is G

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6. Results and Discussion

In this section, the results of computer simulation for the conventional MRAC, PI-MRAC, NN-MRAC and FLC-MRAC scheme is evaluated by applying inputs of varying magnitude plus nonlinearities and disturbance in the plant. The same series of noise disturbance has been applied for each simulation. The results show the effectiveness of the proposed schemes and reveal its performance superiority to the conventional MRAC technique. A detailed simulation comparison has been carried out using with an example. The system set of data is as follows: A third order system with the transfer function
G (S ) = S 2 + 4 S + 3.75 S 3 + 5S 2 + 7 S + 2.5

is used to study and the reference model is chosen as

GM ( S ) = S 2 + 4S + 3.75 S + 6S 2 + 11S + 6
3

which has relative degree n*= 1 The initial value of conventional MRAC scheme the controller parameters are chosen as (0) = [3, 18,-8, 3]T. Umr is the control input of the plant for conventional MRAC U mr = T where = [1 , 2 , 3 , C0 ]T is the update law vector, = [1 , 2 , y p , r ]T is the regressor vector and

1 = F1 + gu p 2 = F2 + gy p where F is an (n 1) * (n 1) stable matrix such that det ( SI F ) is a Hurwitz polynomial whose roots include the zeros of the reference model and that (F,g) is a controllable pair In this example, the nonlinearity component backlash is given to the input of linear system is shown in Fig. 7
Figure 7: Nonlinear System

The PI controller gains can be selected as high as possible, but are limited by the noise. In the PI-MRAC scheme, the value of the PI controller gains Kp = 22and Ki =96, were shown to provide a better performance for the PI-MRAC scheme. The U is the control input of the plant for the PI-MRAC scheme

U = U mr + U pi + v The simulink model of the PI-MRAC scheme developed is given in Fig. 8

Figure 8: Simulink Model of the PI MRAC

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In the neural network-based model reference adaptive controller, the details of the trained network are shown in Fig. 9. The U is the control input of the plant for the NN-MRAC scheme. U = U mr + U nn + v
Figure 9: Details of the trained network

The simulink model of the neural network-based model reference adaptive controller developed is given in Fig .10
Figure 10: Simulink Model of the NN MRAC

To obtain optimal performance compared to PI-MRAC scheme and NN-MRAC scheme, FLCMRAC is employed. In FL-MRAC scheme, the fuzzy variables e and ce are processed by an inference engine that executes a set of control rules containing in (6x6) rule base as shown in Table.2. The fuzzy rules and membership functions are formulated using the input and output waveforms of the PI controller of designed PI-MRAC scheme and the experience of control engineers. Each variable of the FLC has six membership functions. The following fuzzy sets are used: NH (Negative High), NL (Negative Large), ZE (Zero), PS (Positive Small), PM (Positive Medium) and PH (Positive High). The U is the control input of the plant for the FLC-MRAC scheme. U = U mr + U fz + v
Table 2: Linguistic rule base
ce e NH NL ZE PS PM PH NH
NH NL PS PS PM PM

NL
NL NL PS PS PM PM

ZE
PS PS PM PM PM PM

PS
PS PS PM PM PM PH

PM
PM PM PM PM PH PH

PH
PM PM PM PH PH PH

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The membership functions for fuzzy variable error (e), change in error (ce) and output (Ufc) are shown in Fig.11.
Figure 11: Membership functions for fuzzy variable error (e), change in error (ce) and output (Ufc)

The simulink model of the FLC-MRAC scheme is given in Fig .12

Figure 12: Simulink Model of the FLC- MRAC system

Figs. 13 show the performance of the MRAC with input r (t) = 1.6. In this case there is no disturbance and nonlinearities are given in the plant.
Figure 13: Response of the conventional MRAC scheme without disturbance and nonlinearities :( a) Plant and model reference response; (b) Tracking error

(a)

(b)

Figs. 1417 show the performance of the MRAC, PI-MRAC, NN-MRAC and FLC-MRAC schemes for example 1 with input r(t)= 1.6 plus disturbance v(t)=cos5.9t and nonlinearity component backlash with dead bandwidth M=10 are given to the plant

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Figure 14: Response of the conventional MRAC scheme with disturbance and nonlinearities (a) Plant and model reference response; (b) Tracking error

(a)

(b)

Figure 15: Response of the PI- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error.

(a)

(b)

Figure 16: Response of the NN- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error

(a)

(b)

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Figure 17: Response of the FLC- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error

(a)

(b)

Fig. 18 show the performance of the MRAC with input r (t) = 15sin0.7t without disturbance and nonlinearities are given to the plant
Figure 18: Response of the conventional MRAC scheme without disturbance and nonlinearities :( a) Plant and model reference response; (b) Tracking error

(a)

(b)

Figs. 1922 show the performance of the MRAC, PI-MRAC and MRAC scheme for example 1 with input r (t) = 15sin0.7t plus disturbance v (t) =25 sin 0.7t +12 cos5.9t and nonlinearity component backlash with dead bandwidth M=15 are given to in the plant
Figure 19: Response of the conventional MRAC scheme with disturbance and nonlinearities (a) Plant and model reference response; (b) Tracking error

(a)

(b)

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Figure 20: Response of the PI- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error.

(a)

(b)

Figure 21: Response of the NN- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error.

(a)

(b)

Figure 22: Response of the FLC- MRAC scheme with disturbance and nonlinearities: (a) Plant and model reference response; (b) Tracking error.

(a)

(b)

Figs. 13 and 18 show the response of the conventional MRAC scheme without disturbance and nonlinearities. It is shown that the plant output is tracks with the reference model output and the tracking error approaches the zero. The performance of the conventional MRAC, PI-MRAC, NNMRAC and FLC-MRAC scheme is evaluated by applying inputs plus disturbance and nonlinearities in the plant. The results show the effectiveness of the proposed schemes to force the plant to follow the model, under uncertainties. Extensive simulation tests were carried out to compare the four adaptation schemes: conventional MRAC, PI MRAC scheme, NN- MRAC scheme and FLC-MRAC. In the simulation results of conventional MRAC, PI-MRAC NN-MRAC and FLC-MRAC schemes, the dotted line and solid line represents the model reference trajectory and plant trajectory respectively. In

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conventional MRAC scheme with disturbance and nonlinearities, the plant output is poor with large overshoots and oscillations as shown in Figs. 14 and 19. Figs. 15 and 20 show the response of the PI-MRAC scheme. In this case, the overshoots and the oscillations are reduced compared to the conventional MRAC scheme. However, due to the continuous variation in the system parameters and the operating conditions, in addition to the nonlinearities and disturbance present in the system, PI-MRAC scheme may not be able to provide the required performance. In the proposed NN-MRAC scheme, the overshoots and the oscillations are much smaller, yielding a much better performance than the conventional MRAC scheme and PI-MRAC scheme as shown in Figs.16 and 21. However, the application of the NN-MRAC scheme does not considerably improve the steady-state performance. In the proposed FLC- MRAC scheme the plant output has tracked with the reference model output and the tracking error becomes zero within 4 seconds with less control effort as shown in Figs.17 and 22, and which gives the optimal performance than the other methods. The FLC- MRAC scheme improves the transient and steady state performance. The responses performed by the MRAC scheme are observed to be inferior to that of the NNMRAC and FLC-MRAC schemes. Also, the response of the MRAC shows large overshoot and oscillation. Further, the response of the output performed by the NN-MRAC and FLC-NRAC scheme shows more satisfactory results for the bounded disturbances and nonlinearities with unknown as well as time-varying characteristics than that of the MRAC. From the above simulations, it is shown that the control algorithm using only MRAC scheme can guarantee that the tracking error approaches the zero if there are no disturbances and uncertainties, and plant output converges to the reference model output. However, it is said that only using the MRAC scheme will not stabilize the controlled systems with disturbances and nonlinearities From the simulation results, because of the existing bounded disturbances and nonlinearities, the controlled system using the control algorithm only using the model reference adaptive controller will be unstable. When using the neural network and the model reference adaptive controller in coordination in which the control law is provide better performance and improve the steady state performance. But when using the fuzzy logic controller and the model reference adaptive controller in coordination in which the control law is used to cope with nonlinearities and bounded disturbances, the controlled system can be robustly stabilized all the time. From the above discussions, the proposed control algorithm both with the fuzzy logic controller and the conventional model reference adaptive controller can be a promising way to tackle the problem of controlling the nonlinear systems and bounded time-varying disturbances. From the above simulations, it is shown that the control algorithm using only the model reference adaptive controller will not stabilize the nonlinear controlled systems with disturbances. From Figs.16 and 21, it is seen that the control algorithm both with the neural network control and the model reference adaptive controller working in coordination to improve the steady state performance. From Figs.17 and 22, it is seen that the control algorithm both with the fuzzy logic control and the model reference adaptive controller working in coordination can cope up with the uncertain dynamic system and bounded disturbances, but the control algorithm without the neural network or fuzzy logic network compensating control cannot. The proposed NN- MRAC scheme shows better control results compared to those by the conventional MRAC and PI-MRAC system. Moreover, the FLC- MRAC scheme shows faster and optimal response compared to the PI-MRAC scheme and NN-MRAC scheme. From these simulation results it is observe that: 1. In conventional MRAC the plant output is not tracked with the reference model output. The conventional MRAC fails completely under the action of the external disturbance and nonlinearities, where a degradation in the performance due to overshoot is observed. 2. The PI-MRAC scheme, the overshoots and the oscillations are reduced compared to the conventional MRAC scheme In the PI-MRAC scheme, the plant output is nearly track with the reference model output. However it will not be able to provide the required performance.

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3. The proposed NN- MRAC scheme shows better control results compared to those by the conventional MRAC and PI-MRAC system. The NN-MRAC scheme is improve the transient performance. However, the NN-MRAC scheme does not considerably improve the steady-state performance. 4. The proposed FLC-MRAC design approach can keep the plant output in track with the reference model and tracking error becomes zero within 4 seconds. The proposed FLCMRAC controller gives better performances in terms of steady-state error, settling time and overshoot. The FLC-MRAC scheme is improve the both steady-state performance and transient performance. Hence it can be concluded that the proposed FLC-MRAC scheme is more robust performance than the other schemes. On the contrary, the proposed method has much less error than the conventional method in spite of nonlinearities and disturbance. The simulation results have confirmed the efficiency of the proposed FLC-MRAC scheme for applying disturbances and nonlinearities.

6.2. Implementation Issue

The proposed method can be widely used in most of the industrial nonlinear and complex applications such as machine tools, industrial robot control, position control, and other engineering practices. The proposed FLC-MRAC is relatively simple and does not require complex mathematical operations. It can be readily implemented using conventional microprocessors or microcontrollers. The execution speed of the FLC-MRAC scheme can be improved by using advanced processors such as reduced instruction set computing (RISC) processors or digital signal processors (DSP's) or ASIC's (application specific integrated circuits).

7. Conclusion
In this paper, two novel intelligent model reference adaptive control schemes is proposed to replace the PI controller of PI based MRAC by a neural network and fuzzy logic controller. In NN -MRAC the training patterns of neural network are extracted from the PI controller of designed PI -MRAC scheme. In FLC-MRAC the fuzzy rules and membership functions are formed from the input and output waveforms of PI controller of PI- MRAC scheme. A detailed simulation comparison has been carried out using with an example. The proposed FLC-MRAC controller shows very good tracking results when compared to the conventional MRAC and the PI-MRAC and NN-MRAC scheme. Simulations and analyses have shown that the steady state performance and transient performance can be substantially improved by proposed FLC-MRAC scheme In proposed FLC-MRAC scheme, the system output tracks very closely the reference model in spite of the disturbances and nonlinearities. Thus the FLC-MRAC controller is found to be extremely effective, efficient and useful. Due to its simple operation, the proposed FLC-MRAC can be readily implemented using conventional microprocessors.

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