Design of a Robust Model Reference Adaptive Control System
This paper addresses a robust adaptive control system based on Popov hyper-stability theory, which has strong robustness for the particular structure. Introducing the error between model and controlled object into adaptive controller, the system has accurate tracking capability and the convergence even in the presence of external disturbances and uncertainties. Simulations results are given to illustrate the effectiveness of the proposed robust adaptive control law in comparison with PID control.
Wei Deng and Qi Luo
X. C. Zhao et al., "Design of a Robust Model Reference Adaptive Control System", Applied Mechanics and Materials, Vols. 236-237, pp. 976-980, 2012