Gangsar Dwika A.

21060115120042
Modeling and Analysis of
Model Refrence Adaptive
Control by Using MIT and
Modified mit Rule for Speed
Control of DC Motor
Overview

 Normal feedback controllers may not perform very well,

because of the variations of the variations in process or plant
due to nonlinear actuator or changes in environtmental
conditions. The design of a controller for speed control of DC
Motor with MRAC scheme using the MIT rule for adaptive
mechanism is presented in this paper.
Concept
ymodel
Model

Controller Adjustment
Parameters Mechanism

u
u yplant
c Controller Plant

 Design controller to drive plant response to mimic ideal response (error

= yplant-ymodel => 0)
 Designer chooses: reference model, controller structure, and tuning
gains for adjustment mechanism
MIT Rule
 Tracking error: e  y plant  ymodel
1 2
 Form cost function:
J ( )  e ( ) sensitivity

2 derivative

d J e
   e
 Update rule: dt  


Change in J
is proportional to negative gradient
of
MIT Rule
 EX: Adaptation of feedforward gain
Reference
Model

ymodel
Gm ( s )  koG ( s )

Adjustment
Mechanism
θ  Π Σ
s
Plant

uc u yplant
Π G p (s)  k G (s)
MIT Rule
Y ( s) k
 For system  kG(s) where is unknown
U ( s)
Y ( s)
 Goal: Make it look like  koG ( s )
U c ( s)

Gm ( s)  koG( s) (note, plant model is

using plant
scalar multiplied by plant)
MIT Rule
 Choose cost function:
1 2 d e
J ( )  e ( ) 
  e
2 dt 
 Write equation for error:
e  y  ym  kGU  GmU c  kGU c  koG U c

 Calculate sensitivity derivative:

e k
 kGUc  ym
 ko
d k
 Apply MIT rule:dt    ' ym e   yme
ko
MIT Rule

 Gives block diagram: Reference

Model ymodel
Gm ( s )  ko G ( s )

Adjustment
Mechanism -
θ 
Π Σ
s +
Plant

uc u yplant
Π G p ( s)  k G ( s)

 considered
 tuning parameter
Modified MIT Rule

  =


 Where = and (>0)

 = =
 =
 Modified MIT Rule
 Gives block diagram:
Reference
Model
ymodel
Gm ( s )  ko G ( s )

Adjustment   Σ Π
Mechanism
θ   
s
Π

-
uc
Π Σ
Plant
+
yplant
u
G p ( s)  k G ( s)
Modeling of DC Motor

    =

 Laplace transform
 =
 =
 Where is constant
 (= -
 =
 ( + s)(s)
 is motor torque constant
 =
 Result for different Adaptive gains

Tracking performance with MIT rule for Tracking performance with modified MIT
different Adaptive gains rule for different Adaptive gains
Adaptive MIT Rule Modified MIT Rule
Gain Mp (%) Ts (s) Mp (%) Ts (s)

0.5 0 9 0 8
1 20 7 12 6
2 50 17 14 13
 Result for different Uc

Uc = 1 Uc = 2 Uc = 3

Uc = 0.1 Uc = 1 Uc = 10
Conclusion

 Thecontroller designed by using MIT rule will be very

sensitive and may became oscillatory for the larger
values of refrence input.
 Thecontroller designed by using Modified MIT rule will
make system almost insensitive to input amplitude
changes.