Hybrid Real-Time Control Using Model Reference Adaptive System Designed by Coefficient Diagram Method
Ömür Öcal, Atilla Bir · 제어로봇시스템학회 국제학술대회 논문집 · 2008
Coefficient Diagram Method (CDM) is one of the most important controller design method used in control engineering. It is now successfully and commonly used. By applying CDM, it is possible to obtain systems which are stable and robust with relative small settling time without overshoot. All these capabilities of the system are regulated by changing some adjusted parameters in CDM according to design targets. A Model Reference Adaptive System (MRAS) is an adaptive system that changes the control parameters according to a certain system model. The control system follows the model system output. If stable model systems (with poles far away from the origin of s-domain axes) are chosen, good system responses are obtained. Although, the investigated control and system output signals may have some undesired overshoots; it is still possible that the output system can follow the output signal of the model reference system. In this paper, we describe a new hybrid controller that consists of a combination of the MRAS and CDM. This hybrid structure is called an MRAS-CDM controller. First, the CDM and then MRAS-CDM structure are briefly introduced and then as a real-time application a process control application investigated. The benefits of the MRAS-CDM are obvious. It is shown that the system outputs which are obtained with MRAS-CDM are much better for the poles near the origin as well as for the poles which are far away in the negative s-plane.