Introduction to Model Reference Adaptive Control with MATLAB Simulations: MIT Rule Implementation
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- Опубліковано 5 вер 2024
- #controltheory #robotics #controlengineering #machinelearning #electricalengineering #matlab #matlabtutorials #controlengineering #controlsystems #adaptivecontrol #machinelearning #electricalengineering #mechatronics #robotics #automation #plc
If you need help with your professional engineering problem, or you need to develop new skills in the fields of control, signal processing, embedded systems, programming, optimization, machine learning, robotics, etc., we are here to help. We provide professional engineering services as well as tutoring and skill development services. We have more than 15 years of industry, research, and university-level teaching experience. Describe your problem and we will send you a quote for our services. The contact information is ml.mecheng@gmail.com
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In this video and in the accompanying post we explain the basics of model reference adaptive control and we explain how to implement and simulate this algorithm in MATLAB. A post accompanying this video is given here: aleksandarhabe...
A GitHub page with all the codes is given here:
github.com/Ale...
If you need help with your professional engineering problem, or you need to develop new skills in the fields of control, signal processing, embedded systems, programming, optimization, machine learning, robotics, etc., we are here to help. We provide professional engineering services as well as tutoring and skill development services. We have more than 15 years of industry, research, and university-level teaching experience. Describe your problem and we will send you a quote for our services. The contact information is ml.mecheng@gmail.com
It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- Buy me a Coffee: www.buymeacoffee.com/AleksandarHaber
- PayPal: www.paypal.me/AleksandarHaber
- Patreon: www.patreon.com/user?u=32080176&fan_landing=true
- You Can also press the Thanks UA-cam Dollar button
A post accompanying this video is given here: aleksandarhaber.com/simulation-of-model-reference-adaptive-controller-in-matlab-part-i-mit-rule-and-a-first-order-system/
A GitHub page with all the codes is given here:
github.com/AleksandarHaber/Model-Reference-Adaptive-Control---MIT-Rule
Very detailed explanation of MRAC. Thank you very much.
thank you!
Thank you so much Sir for this perfect lecture, thank you for your effort, it was very useful for me. I really appreciate what you have done.
Thank you very much for the interest and for the positive comment.
Very good explanation, my professor did a simillar example during the lecture but did not explain it as well as you did here
So thank you very much for your hard work!
Thank you!
very helpful thank you
Glad it was helpful!
Excellent
Thank you!
thanks .it was very good.
Welcome!
Thanks for the study materials too 🙏
You are welcome!
thank you very much for this magnificent lecture!!!!!!!!!
Thank you for the interest, please subscribe and spread the word about my channel!
Hi,
Thank you so much for the video. Really interesting. One question, when implementing this in reality, the values for a and b are approximations of the plant? Also, how would we connect the real plant to the reference model?
Thanks in advance, best,
Cesar
Hello, these are good questions. Unfortunately, I do not have time to answer them. All I can do is create these free tutorials as a starting point for a more deeper learning.
@@aleksandarhaber oh ok no worries’ I can imagine !
Thanks so much for the video - I’ll let you know if I can figure it out! Thanks so much for all :)
a good course dear doctor
Thank you Achour!
What should we do if the model and plant are of third order? I think it's a bit hard to derive the parameters..Can anyone help me..
I will create a video about that. It is a good suggestion.
@@aleksandarhaber Please sir expecting it soon 👍🏻 btw well explained.
Great explanations! Thanks
Thank you very much for the interest and for the positive comment! Aleksandar Haber
Thank you so much, in my case i'm working with transfer functions not differential functions, is there a matlab code for that ? (the control law is U=Kp + Ki * 1/s+ Kd * s)
To be hones, I do not understand your question. What you wrote is a PID controller.
Sir please explain the effects of the main design parameters on the adaptive control performance
And also how to determine the parameters of the controller in the numerical simulation?
It is difficult to answer these questions in a few sentences. Sorry that I cannot help more at this point.
@@aleksandarhaber please sir help me.. what the is effect of uncertainties and disturbances on the nonlinear systems
@@arunbali7480 No time to investigate this at this point. sorry...
How we can do for if I want to replace computed-torque into adaptive controller for a exoskeleton model in simulink multibody, how I should input the reference model in code of adaptive, pls explain I need help
This should be possible. However, I do not have time to play with this at this point. It is a good practice to try to that, and you can learn Simulink by doing this.
Can anyone help me with this one ? I appreciate it so much. Thankyou!
about Speed Estimation of an Induction motor using
Model Reference Adaptive Control.
This is an interesting topic. Unfortunately, I do not have enough time to help you at this point.
do you have any mrac matlab example for a system like cart inverted pendulum? force input, position and angle outputs. ? for example ctms inverted pendulum model ?
It will be created in the future.
@@aleksandarhaber I am looking forward to see it. Thank you.
@@abdullahcakan Thank you Cakan for your Patreon support! I really appreciate it.
@@aleksandarhaber I am a follower of you for years. I m happy to support even with that amount.
@@abdullahcakan Glad to know that! Thank you for your support.
good explanation but need more explanation in simulation part. Overall thank you
thank you !
Hi Aleksandar.
Can I use simulation this model by simulink? If possible how I can use lsim function to instead block in Simulink?
thanks.
Hi, I did not try this. However, I believe that you can do everything in Simulink. Generally speaking, I am not a big fan of Simulink, since I want to have a very low-level control of everything that is happening. At the end of the day if you want to implement a method in a controller you would most likely use C/C++, and a working MATLAB code is a good starting point for developing C/C++ codes.
It is totally possible to do it in Simulink! I did it, it works perfectly!
@@yohanalidiazmendez2807 great
Hello, may I know is this a closed loop system? If so, what is the feedback response for this system?
Watch the video. It is a closed-loop system.
@@aleksandarhaber Thank you for your reply
I need Lyapunov rule .. please
Currently, I do not have time to explain that..