Abstract— Improving the transient performance of the MRAC has been a point of research for a long time. The main objective of the paper is to design an MRAC with improved transient and steady state performance. This paper proposes a Fuzzy modified MRAC (FMRAC) to control a coupled tank level process. The FMRAC uses a proportional control based Mamdani-type Fuzzy inference system (MFIS) to impro...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, F...

An adaptive algorithm is introduced in this paper to estimate random communication time delay in Networked Control Systems (NCS). The algorithm updates an adaptive delay estimate using gradient descent method, and identifies plant parameters by a modified RLS. By using this algorithm, future control sequences are generated to compensate for the communication time delay when control signals are ...

A new robust adaptive control method is proposed, which removes the deficiencies of the classic robust multiple model adaptive control (RMMAC) using benefits of the -gap metric. First, the classic RMMAC design procedure cannot be used for systematic design for unstable plants because it uses the Baram Proximity Measure, which cannot be calculated for open-loop unstable plants. Next, the %FNARC ...

In this paper we develop a modified filtered-x least mean squares (MFX-LMS) method to synthesis an adaptive repetitive controller for rejecting periodic disturbances at selective frequencies. We show how a MFX-LMS algorithm can be utilized when the reference signal is deterministic and periodic. A new adaptive step size is proposed with the motivation to improve the convergence rate of the MFX-...

Frequency domain adaptive filter has potential benefits of fast convergence and low computational load, which make it attractive in the application of active noise control. However, it has been noticed that the commonly used normalized frequency domain block LMS algorithm faces the problem of deterioration of steady-state behavior when the whole control system is noncausal or the adaptive filte...