The study on the model reference adaptive control with proportional derivative action

Abstract

This article presents a study on the novel method of model reference adaptive control (MRAC). As a new contribution, the derivative action is included into MRAC control to improve the controller performance and efficiency. The stability is analysed using a recent technique called immersion and invariance. The simulations of derived laws are presented based on nonlinear models.

Keywords:

• adaptive control
• model reference adaptive control
• immersion and invariance
• nonlinear control
• Lyapunov stability
• motor control