A Modified Model Reference Adaptive Control Scheme for Improved Transient Performance

Abstract

We propose a modified model reference adaptive control scheme aimed at improving the transient performance of adaptive systems while maintaining ideal asymptotic properties possessed by a standard model reference adaptive control. In the new scheme, the estimation error, which is generated by the identification scheme, is used directly as a control signal to counteract errors resulting from the certainty equivalence design. We show that the modified scheme has essentially the same stability and robustness properties of a standard adaptive MRAC system but with the transient performance substantially improved. Simulation results have also been presented to illustrate the effectiveness of the proposed scheme.