Robust Model Reference Adaptive Pi Control

The advantage of the Model Reference Adaptive Scheme is to establish robustness with respect to bounded disturbances and unmodeled dynamics. In the model reference adaptive system (MRAS), the desired index of performance is given by the reference model. The tracking error represents the deviation of the plant output from the desired trajectory. The adaptive control without having robustness property may go unstable in the presence of small disturbances or unmodeled dynamics. A new idea is proposed to reduce the time for adaptation in MRAC systems. The idea behind to design Robust model Reference Adaptive PI control system is by adding the control signal from the PI controller to the control signal from modified MRAC. It has been checked with the lateral dynamic model of Boeing 747 airplane. The proposed controller is easy to implement and has superior transient behavior as compared to the standard adaptive controller and modified adaptive controller. Index Terms – Model Reference Adaptive Control, Modified Model Reference Adaptive Control, Control Systems, MATLAB.