Model Reference Adaptive Control

Synonyms

MRAC

Abstract

The fundamentals and design principles of Model Reference Adaptive Control (MRAC) are described. The controller structure and adaptive algorithms are delineated. Stability and convergence properties are summarized.

Keywords

Lyapunov-SPR design, Certainty equivalence, MIT rule

Introduction

Model Reference Adaptive Control (MRAC) is an important adaptive control approach, supported by rigorous mathematical analysis and effective design toolsets. It is made up of a feedback control law that contains a controller C(s, θ _c ) and an adjustment mechanism that generates the controller parameter updates θ _c (t) online. While different MRAC configurations can be found in the literature, the structure shown in Fig. 1is commonly used and includes all the basic components of an MRAC system. The prominent features of MRAC are that it incorporates a reference model which represents the desired input–output behavior and that the controller and adaptation law are designed to...