Application of Passivity to Adaptive Control Compensation Systems

Abstract

In this paper the Model Reference Adaptive System (MRAS) is considered. The feedforward gain adjustment is done by using adaptive technique and feedforward gain compensation by passivity-based technique is presented. The adaptation of feedforward gain is considered by using MIT rule and the effect of variation of parameter values and adaptation gain on the response of the system is simulated. But to achieve more stable system, lyapunov stability theorem is used for parameter adjustment. It has been shown that the adjustment rule guarantees that error goes to zero. Finally input-output stability theorem is used to construct adjustment rules for the adaptive system. The passivity theorem is applied to construct adjustment laws. The compensating network is introduced so that the transfer function relating the error is Strictly Positive Real (SPR). The compensator is designed by using Kalman – Yakubovich (KY) Lemma. Simulation results are furnished after implementing the adaptive techniques. Algorithm for the design of compensator using KY Lemma is also presented