Abstract
This paper investigates the use of neural networks (NNs) in conventional model reference adaptive control (MRAC) to control a nonlinear magnetic levitation system. In the conventional MRAC scheme, the controller is designed to realize plant output convergence to a reference model output based on a plant which is linear. This scheme is effectively for controlling linear plants with unknown parameters. However, using MRAC to control the nonlinear magnetic levitation system in real time is a difficult control problem. In this paper, we incorporate a NN in MRAC to overcome the problem. The control input is given by the sum of the output of the adaptive controller and the output of the NN. The NN is used to compensate the nonlinearity of the plant that is not taken into consideration in the conventional MRAC. From experiment results, it has been shown that the plant output can converge to the reference model output after using NN in MRAC.
Published Version
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