Redesign of explicit and implicit discrete time model reference adaptive control schemes

Abstract

The design of MRAC for achieving independent tracking and regulation objectives with a unique equilibrium point in the controller parameter space is presented. The corresponding schemes can use either an explicit reference model or an implicit reference model. The design is done from a stability point of view by extending an appropriate control configuration used for the case of known plant parameters. The result of the design is a simple control scheme using a linear constant feedforward controller and a non-linear feedback controller. The stability of the system and boundness of various variables do not require any positivity condition. The performances of the control structure in tracking and regulation are evaluated by simulations.