some projects in adaptive control

1. Some Adaptive Control schemes
implementations using matlab
By:
Laila Elsayid Gharib

2. Contents:
• Mit rule and modified Mit rule MRAC based.
• Application using Lyaponouv stability theory.
• Kalman filter.
• Filters using matlab.

3. Mit rule and modified Mit rule MRAC based
• An adaptive controller consists of two loops, an outer
loop or normal feedback loop and an inner loop or
parameter adjustment loop.

5. Gamma=0.5

6. Gamma =1 Gamma =2

7. Uc=2
Uc=3

8. For various Gamma values

9. For various Uc values

10. Normalized or modified Mit rule

11. GAMMA=0.5
The drawbacks of the adaptive system using mit rule is that it is
sensitive to the adaptive gain Gamma and the amplitude of the
reference input signal, the modified mit rule overcome the
amplitude of reference gain problem but makes the ranges of
gamma extended to be within 0.5 and 5 for good performance
otherwise system performn bad.

12. U=theta1*r-theta2*Y
We here trying to overcome the problem of working
within fixed adaptive gain by adding another
parameter so the input signal could be

13. This is the output I got using simulation by simulink

14. Simulation of the Local Model Reference Adaptive
Control of the Robotic Arm with D.C. Motor Drive

21. error
parameters
Reference input, reference model and gear angle

22. Kalman filter

34. X1 & X2

38. Filters using matlab