MRAC BASED DC SERVO MOTOR MOTION CONTROL

Adaptive Control strategies helps to get desirable output for system with partial unknown dynamics or systems having unknown and unmodeled load variation. DC servo motors are useful to track rapid speed trajectory for various applications, particularly with need of high starting torque and low inertia. Model Reference Adaptive Control (MRAC) parameter data of results with Lyapunov stability MRAC has been used to generate adaptation parameter for DC motor speed controller. Based on the data of error and adaptation parameter new ANFIS based controller has been created and trained. ANFIS based MRAC controller determines parameter based on present value of error for each iteration. Problem definition, adaptive controller using model output as a reference, basic block diagram of overall system and derivation of control law has been presented. Introduction part discusses literature survey, development of the topic and importance of the work.