Design and Implementation of MRAC & MRAC-PID Feedback for Turntable

Abstract

The paper explains a control method for turntable by feedback a PID controller with the traditional model reference adaptive controller (MRAC) based on the MIT rule. The traditional MRAC is designed for a first-order system with the adjustment of a two-variable parameter. However, the majority of plants, including turntable, are second-order systems. Traditional MRAC tracking performance for second-order systems is unsatisfactory. The control law for the second order system along with extension from the first to the second order of MRAC is derived. The modified MRAC i.e., MRAC-PID controller is designed for the application of turntable. It enhanced the system’s dynamic performance. To assess the performance of the proposed controller, MATLAB/Simulink software was used. The article incorporates a detailed analysis and comparison of PID, MRAC as well as MRAC-PID controllers based on the MIT rule for the turntable system. The robustness of the proposed controller is validated by introducing uncertainties in two aspects i.e., mistuning of the controller gains and turntable system dynamics change. The probabilistic design assessment for the mistuning is carried out through levels of uncertainty in controller gain. It is observed that PID and MRAC would track the reference model but modified MRAC has better performance in terms of tracking accuracy, adaptability, and rapidity. Several performance indexes such as integral absolute error (IAE), integral time absolute error (ITAE), and integral square error (ISE) were employed to justify the proposed controller superiority.