Lecture 4

CY4A2: Advanced Nonlinear Control

Model Reference Adaptive Control

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This is an adaptive control technique where

the performance specifications are given in
terms of a model. The model represents the
ideal response of the process to a command
signal.
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The controller has two loops:

1. The inner loop, which is an ordinary feed-

back loop consisting of the process and
the controller.

2. The outer loop, which adjust the con-

troller parameters in such a way that the
error e = y - y m is small (not trivial)

Based on ideas by Whitaker (1958), from

MIT.

Approaches: Gradient approach (MIT Rule)

and Lyapunov direct approach.

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Lyapunov approach to stable adaptation

In MRAC we want the error e = y − ym to go

to zero, we will now attempt to find a Lya-
punov function and adaptation mechanism to
achieve it.
Example 13. A first order system

Process:
dy
= −ay + bu
dt
Model:
dym
= −amym + bmuc
dt
where am > 0 and the reference uc is bounded.

Controller:

u = θ 1 uc − θ 2 y

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Error:

e = y − ym

de = −ay + b(θ u − θ y) + a y − b u
dt 1 c 2 m m m c

de = a y − (bθ + a)y + (bθ − b )u

dt m m 2 1 m c

de = −a e − (bθ + a − a )y + (bθ − b )u
dt m 2 m 1 m c

Note: perfect model following occurs when

the parameters have ideal values: θ 1 = bm/b
and θ 2 = (am − a)/b

Define φ2 = bθ2 + a − am, φ1 = bθ1 − bm so

that when the parameters have ideal values,
φ1 = φ2 = 0

With that definition, we have

de
= −ame − φ2y + φ1uc
dt
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Candidate for Lyapunov function:
1 2 1 1 2
V (e, φ1, φ2) = (e + φ21 + φ2 )
2 bγ bγ
Note: V→0 when e→0 and the parameters
θ 1,θ 2 are ideal.

Derivative of the candidate Lyapunov func-

tion:
 
de
h i dt 
V̇ = ∂t + ∂V
∂V ∂V ∂V  dφ1 
∂e ∂φ1 ∂φ2  dt 
dφ2
dt

= e de + 1 φ dφ1 + 1 φ dφ2
dt bγ 1 dt bγ 2 dt

1 φ dφ1 + 1 φ dφ2
= −ame2 − eφ2y + eφ1uc + bγ 1 dt bγ 2 dt
h i h i
2 1 dφ1 1 dφ2
= −ame + φ1 bγ dt + euc + φ2 bγ dt − ey

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If we choose the following adaptation laws
dφ1
dt = −bγuce

dφ2
dt = γbye
Then
V̇ = −ame2
Notice that am > 0. Note also that the sys-
tem described by the state equations:
de
= −ame − φ1y + φ2uc
dt
dφ1
dt = −bγuce

dφ2
dt = γbye
has an equilibrium point at x = (e, φ1, φ2)T =
(0, 0, 0)T

59
Since V (e, φ1, φ2) is positive definite and V̇ =
−ame2 6 0

then, according to Theorem 2 the equilibrium

point x = 0 is uniformly stable, but will e →0
and will the parameters θ1 and θ2 converge
to their ideal values when t → ∞ ?

The answer to this question is as follows:

Since dV 2
dt = −am e is negative semi-definite
then V (t) 6 V (0).

Then, e, θ1 and θ2 must be bounded.

60
Since am > 0, and uc is bounded then ym is
bounded, and therefore y = e+ym is bounded
as well.

From the fact that all these variables are

bounded, it is possible to conclude by using
some extra mathematical arguments (see As-
trom and Wittenmark, 1995) that V̇ → 0 as
t → ∞, which implies that the error e(t) →0
as t → ∞.

The parameters θ1 and θ2 will not necessarily

converge to the ideal values.

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Notice that the adaptation laws found can
be written in terms of the original controller
parameters as follows:
 
dθ1 −γ
dt = −γuc e ⇒ θ1 = p uc e
 
dθ2 γ
dt = γye ⇒ θ2 = p ye

ym

2 To Workspace2
s+2
Model sub

0.5
Command y
Product s+1
Signal
sub1 To Workspace3
theta1 Process

To Workspace
-g
Integrator
s theta2
Product1
g To Workspace1
Integrator_
s

Product2

Product3 Plot
results

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