Two-Degree-of-Freedom based Model Reference Adaptive Control of Non-minimum Phase System

Abstract

This paper presents the design of the Two-Degree-of-Freedom (2DOF) based Model Reference Adaptive Control (MRAC) as a tracking control system for the Non-minimum Phase (NMP) system. Perfect set point tracking is possible by using a cascade-connected inverse and non-inverse transfer function model of the dynamic system. But this method is restricted to the minimum phase system only, whereas, NMP system produces unbounded output response using this inverse model technique. Though, adaptive inverse feed-forward control technique is an effective tracking control system, it also requires an inverse model of the system. To overcome this problem, a novel feed-forward MRAC scheme for the inverse NMP model and the State feedback controller of the non-inverse model has been proposed, and both the controller are decoupled in a 2DOF framework. The feed-forward control technique guaranteed the tracking performance using the Lyapunov stability theory, and the feedback counterpart enhances the steady-state performance of the NMP plant. The robustness of the asymptotic stability as well as tracking performance of the closed-loop NMP system has been ensured by the proposed 2DOF control based MRAC technique. The effectiveness of the proposed control structure initially has been verified by the MATLAB Simulink toolbox and, then the demand has been strengthened by the implementation of the same control logic in the real-time environment using analog simulation with Op-amp based hardware model.

Keywords:

• Analog
• Model Reference Adaptive Control
• Non-minimum phase
• Op-amp
• State feedback
• Two-Degree-of-Freedom

Additional information

Notes on contributors

M. Pal

Mita Pal received her BE degree in electrical engineering from Bengal Engineering College, Shibpur, Howrah under Calcutta University, master's degree in control system engineering from Jadavpur University and currently, she is full time scholar in the Department of Electrical Engineering, Jadavpur University, Kolkata. Her research interest is in the area of adaptive control, intelligent control and robust control. Corresponding author. Email: [email protected]

G. Sarkar

Gautam Sarkar received the BTech and MTech degrees in electrical engineering from Calcutta University, Kolkata, India, in 1999 and 2001, respectively and PhD degree in engineering from Jadavpur University, Kolkata, India in 2015. His current research interests include electrical capacitance tomography, digital signal processing, internet-based instrumentation, design of real-time systems and bio-medical engineering. He has authored or coauthored over 58 technical papers, including 21 international journal papers. He has guided a number of students leading to PhD. Email: [email protected]

R. K. Barai

Ranjit Kumar Barai received his Bachelor of Electrical Engineering and Master of Electrical Engineering from Jadavpur University, Kolkata, India in 1993 and 1995, respectively. He has worked in the power industry from 1995 to 1998. He then joined Jadavpur University as a faculty of the Department of Electrical Engineering. In 2003, he was awarded the Monbukagakusho Scholarship from the Government of Japan. He was awarded his PhD in 2007 in artificial systems science with specialization in mechanical and electronic systems from the Graduate School of Science and Technology, Chiba University, Japan. Currently, he is professor at the Department of Electrical Engineering, Jadavpur University, and Kolkata, India. Email: [email protected]

T. Roy

Tamal Roy graduated from West Bengal University of Technology, Kolkata in 2005 as an electrical engineer. He received his MTech in mechatronics engineering from the National Institute of Technical Teachers Training and Research, Kolkata in 2008 and completed his PhD from Jadavpur University in 2016. In 2008, he joined the Department of Electrical Engineering at Hooghly Engineering and Technology College as a lecturer. Since 2011, he has been working as an assistant professor at the Department of Electrical Engineering, MCKV Institute of Engineering. His current research interests include adaptive control, uncertainty modeling, and robust control of the non-linear systems. Email: [email protected]