Abstract
Abstract: In this work an adaptive control along with robust control have been developed to address the problem of system performance in the face of system uncertainty in control-system design without excessive reliance on system models. The direct MRAC control scheme with unknowns is designed with control law that is to be combined with an adaptive law. The adaptive laws are developed using the SPR-Lyapunov design approach and are driven by the estimation error for continuous-time systems guaranteeing asymptotic stability of the system states. CDM is a polynomial approach which was developed and introduced for a good transient response of the control systems. An MRAC is constructed in two-degree offreedom (2DOF) control structure and the adaptation gains of controller parameters are found through CDM. Spherical tank level process is used for validating the design procedure of CDM-MRAC in real time and the performance of controller is compared with linear PI controller. Simulation is carried out using Mat Lab Simulink software.
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