Dissertations / Theses: 'Model reference control systems'

1

Zhang, Guoming. "Model reference control for nonlinear plants." Thesis, University of Manchester, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.314208.

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Harvey, Seth A. "Spacecraft attitude control using direct model reference adaptive control." Laramie, Wyo. : University of Wyoming, 2008. http://proquest.umi.com/pqdweb?did=1594485351&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.

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Camara, C. D. J. "Plant identification using model reference techniques." Thesis, University of Cape Town, 1987. http://hdl.handle.net/11427/23544.

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Gandana, Danny M. "Design and implementation of model-reference neural control systems." Thesis, University of Salford, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.308113.

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5

Messer, Richard Scott. "Analytical and experimental study of control effort associated with model reference adaptive control." Diss., This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-06062008-165637/.

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6

Orlicki, David Mark. "Model reference adaptive control systems using a dead zone non-linearity." Thesis, Massachusetts Institute of Technology, 1985. http://hdl.handle.net/1721.1/15226.

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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1985.
MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING.
Includes bibliographical references.
by David Mark Orlicki.
Ph.D.

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7

Plaisted, Clinton. "DESIGN OF AN ADAPTIVE AUTOPILOT FOR AN EXPENDABLE LAUNCH VEHICLE." Master's thesis, University of Central Florida, 2008. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2834.

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This study investigates the use of a Model Reference Adaptive Control (MRAC) direct approach to solve the attitude control problem of an Expendable Launch Vehicle (ELV) during its boost phase of flight. The adaptive autopilot design is based on Lyapunov Stability Theory and provides a useful means for controlling the ELV in the presence of environmental and dynamical uncertainties. Several different basis functions are employed to approximate the nonlinear parametric uncertainties in the system dynamics. The control system is designed so that the desire dresponse to a reference model would be tracked by the closed-loop system. The reference model is obtained via the feedback linearization technique applied to the nonlinear ELV dynamics. The adaptive control method is then applied to a representative ELV longitudinal motion, specifically the 6th flight of Atlas-Centaur launch vehicle (AC-6) in 1965. The simulation results presented are compared to that of the actual AC-6 post-flight trajectory reconstruction. Recommendations are made for modification and future applications of the method for several other ELV dynamics issues, such as control saturation, engine inertia, flexible body dynamics, and sloshing of liquid fuels.
M.S.A.E.
Department of Mechanical, Materials and Aerospace Engineering
Engineering and Computer Science
Aerospace Engineering MSAE

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8

Velasquez, Garrido Jose J. "Fuzzy Model Reference Learning Control for Smart Lights." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1364242984.

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9

Figueredo, Kenny Robert Agnelo. "Application of microprocessor based model reference adaptive control to servosystems." Thesis, University of Bath, 1987. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.380941.

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10

Patel, Bhagirath. "Model reference adaptive control system using frequency domain performance specifications." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0023/MQ52071.pdf.

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11

Silva, Gustavo Rodrigues Gonçalves da. "Especificação do modelo de referência em projeto de controladores multivariáveis discretos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/141821.

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A escolha do modelo de referência é a principal tarefa a ser executada pelo projetista em um projeto de controle por modelo de referência. Uma má escolha do modelo de referência pode resultar em um desempenho de malha fechada que tem pouca semelhança com o especificado e a malha fechada pode até ser instável. Neste trabalho, esse problema será discutido no controle de plantas multivariáveis. O resultado experimental em uma planta de controle de nível de três tanques mostra uma aparentemente correta, ainda que ingênua, escolha do modelo de referência levando a um desempenho muito pobre em malha fechada. O problema é, então, analisado, expondo a ingenuidade do exemplo. Começa-se por reconhecer as restrições fundamentais impostas pelo sistema e, em seguida, deriva-se diretrizes gerais que respeitam essas restrições, para uma escolha eficaz do modelo de referência em sistemas multivariáveis. Também é proporcionada uma nova formulação para calcular o grau relativo mínimo de cada elemento do modelo de referência sem a necessidade de um modelo completo da planta. A aplicação destas orientações em simulações e na planta de três tanques ilustra sua eficácia.
The choice of the reference model is the main task to be performed by the designer in a model reference control design. A poor choice of the reference model may result in a closed-loop performance that bears no resemblance to the specifications and the closedloop may even be unstable. In this work we discuss this issue in the control of multivariable plants. Experimental results in a three tank level control plant show a seemingly correct, yet naive, choice of reference model leading to very poor closed-loop performance. The problem is then analyzed, exposing the naivete of the design example. We start by recognizing the fundamental constraints imposed by the system and then deriving general guidelines respecting these contraints for the effective choice of the reference model in multivariable systems. We also provide a novel formulation to compute the minimal relative degree of each element of the reference model without needing a complete model of the plant. The application of these guidelines to simulations and the three tank plant illustrates their effectiveness.

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Höcht, Leonhard [Verfasser]. "Advances in Stability Analysis for Model Reference Adaptive Control Systems and Application to Unmanned Aerial Systems / Leonhard Höcht." München : Verlag Dr. Hut, 2014. http://d-nb.info/1067707905/34.

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Gruenwald, Benjamin Charles. "Toward Verifiable Adaptive Control Systems: High-Performance and Robust Architectures." Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7676.

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In this dissertation, new model reference adaptive control architectures are presented with stability, performance, and robustness considerations, to address challenges related to the verification of adaptive control systems. The challenges associated with the transient performance of adaptive control systems is first addressed using two new approaches that improve the transient performance. Specifically, the first approach is predicated on a novel controller architecture, which involves added terms in the update law entitled artificial basis functions. These terms are constructed through a gradient optimization procedure to minimize the system error between an uncertain dynamical system and a given reference model during the learning phase of an adaptive controller. The second approach is an extension of the first one and minimizes the effect of the system uncertainties more directly in the transient phase. In addition, this approach uses a varying gain to enforce performance bounds on the system error and is further generalized to adaptive control laws with nonlinear reference models. Another challenge in adaptive control systems is to achieve system stability and a prescribed level performance in the presence of actuator dynamics. It is well-known that if the actuator dynamics do not have sufficiently high bandwidth, their presence cannot be practically neglected in the design since they limit the achievable stability of adaptive control laws. Another major contribution of this dissertation is to address this challenge. In particular, first a linear matrix inequalities-based hedging approach is proposed, where this approach modifies the ideal reference model dynamics to allow for correct adaptation that is not affected by the presence of actuator dynamics. The stability limits of this approach are computed using linear matrix inequalities revealing the fundamental stability interplay between the parameters of the actuator dynamics and the allowable system uncertainties. In addition, these computations are used to provide a depiction of the feasible region of the actuator parameters such that the robustness to variation in the parameters is addressed. Furthermore, the convergence properties of the modified reference model to the ideal reference model are analyzed. Generalizations and applications of the proposed approach are then provided. Finally, to improve upon this linear matrix inequalities-based hedging approach a new adaptive control architecture using expanded reference models is proposed. It is shown that the expanded reference model trajectories more closely follow the trajectories of the ideal reference model as compared to the hedging approach and through the augmentation of a command governor architecture, asymptotic convergence to the ideal reference model can be guaranteed. To provide additional robustness against possible uncertainties in the actuator bandwidths an estimation of the actuator bandwidths is incorporated. Lastly, the challenge presented by the unknown physical interconnection of large-scale modular systems is addressed. First a decentralized adaptive architecture is proposed in an active-passive modular framework. Specifically, this architecture is based on a set-theoretic model reference adaptive control approach that allows for command following of the active module in the presence of module-level system uncertainties and unknown physical interconnections between both active and passive modules. The key feature of this framework allows the system error trajectories of the active modules to be contained within apriori, user-defined compact sets, thereby enforcing strict performance guarantees. This architecture is then extended such that performance guarantees are enforced on not only the actuated portion (active module) of the interconnected dynamics but also the unactuated portion (passive module). For each proposed adaptive control architecture, a system theoretic approach is included to analyze the closed-loop stability properties using tools from Lyapunov stability, linear matrix inequalities, and matrix mathematics. Finally, illustrative numerical examples are included to elucidate the proposed approaches.

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McConnell, David James. "Analysis of model referenced adaptive control applied to robotic devices." Thesis, Kansas State University, 1985. http://hdl.handle.net/2097/17099.

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Wang, Xiaoru. "Multi-Core Implementation of F-16 Flight Surface Control System Using GA Based Multiple Model Reference Adaptive Control Algorithm." University of Toledo / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1302130339.

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16

Bordignon, Virgínia. "Critério otimizado para projeto de controle regulatório baseado em dados." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/183059.

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Métodos de controle por modelo de referência, usualmente encontrados na literatura de controle baseado em dados, têm como principal característica a especificação do desempenho desejado em malha fechada através de um modelo de referência. Estes métodos são, no entanto, comumente desenvolvidos para tratar o problema de seguimento de referência, em detrimento do comportamento relativo à perturbação de carga. Nesse sentido, recentemente foi desenvolvido o método de controle baseado em dados Virtual Disturbance Feedback Tuning – VDFT, que pode ser interpretado como um método de controle por modelo de referência para perturbação, em que o controlador é sintonizado para alcançar em malha fechada o comportamento regulatório especificado. A escolha no entanto do modelo de referência para perturbação mostra-se desafiadora, especialmente considerando o cenário em que pouca ou nenhuma informação sobre o modelo paramétrico do sistema está disponível. Dessa forma, este trabalho tem como objetivo estudar o impacto da escolha deste modelo sobre a sintonia do controlador utilizando o método VDFT e propor uma abordagem sistemática para lidar com essa variável de projeto. A solução aqui concebida é a de flexibilizar o modelo de referência para perturbação e identificar parte do seu numerador juntamente aos parâmetros do controlador que, associada a um conjunto de diretivas de projeto, permitem aproximar o comportamento em malha fechada do inicialmente especificado. Esse resultado viabiliza a utilização do método VDFT com critério flexível no contexto de uma estrutura hierárquica de controle, em que uma malha externa de controle preditivo é associada à malha de controle por VDFT, evitando a etapa de identificação de um modelo para o processo. Por fim, a formulação do método VDFT, assim como sua adaptação flexível, é estendida a fim de levar em conta processos multivariáveis. Experimentos e resultados em simulação ilustram as contribuições deste trabalho.
Model reference control methods, usually found within data-based control literature, have as main feature the specification of the desired closed-loop performance through a reference model. These methods are however commonly developed to address the set point tracking problem, to the disadvantage of load disturbance rejection. In this sense, the data-based control method Virtual Disturbance Feedback Tuning – VDFT was recently developed, which could be interpreted as a model reference control method for disturbance, in which the controller is tuned in order to reach in closed-loop the specified regulatory behavior. Nonetheless, the choice of the disturbance reference model is challenging, especially considering the scenario where little or no information on the process’ parametric model is available. This work aims therefore to study the impact of the disturbance reference model choice on the controller tuning using the VDFT method and to propose a systematic approach to deal with this design variable. The solution here conceived is to loosen the disturbance reference model and identify part of its numerator along with the controller parameters, which, associated with a set of design directions, allow the closed-loop behavior to be drawn closer to the one initially specified. This result enables the use of the VDFT method with flexible criterion in the context of a hierarchical control structure, in which an external predictive control loop is associated to the VDFT control loop, avoiding thus the identification of a process model. Finally, VDFT method’s formulation, as well as its flexible adaptation, is extended in order to take into account multivariable processes. Experiments and simulation results illustrate the contributions of this work.

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Höcht, Leonhard [Verfasser], Florian [Akademischer Betreuer] Holzapfel, and Boris [Akademischer Betreuer] Lohmann. "Advances in Stability Analysis for Model Reference Adaptive Control Systems and Application to Unmanned Aerial Systems / Leonhard Höcht. Gutachter: Boris Lohmann ; Florian Holzapfel. Betreuer: Florian Holzapfel." München : Universitätsbibliothek der TU München, 2014. http://d-nb.info/1051734983/34.

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Matthews, Joshua Stephen. "Adaptive Control of Micro Air Vehicles." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1530.pdf.

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19

Cunha, Caio Dorneles. "Controlador em modo dual adaptativo robusto - DMARC." Universidade Federal do Rio Grande do Norte, 2008. http://repositorio.ufrn.br:8080/jspui/handle/123456789/15122.

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The so-called Dual Mode Adaptive Robust Control (DMARC) is proposed. The DMARC is a control strategy which interpolates the Model Reference Adaptive Control (MRAC) and the Variable Structure Model Reference Adaptive Control (VS-MRAC). The main idea is to incorporate the transient performance advantages of the VS-MRAC controller with the smoothness control signal in steady-state of the MRAC controller. Two basic algorithms are developed for the DMARC controller. In the first algorithm the controller's adjustment is made, in real time, through the variation of a parameter in the adaptation law. In the second algorithm the control law is generated, using fuzzy logic with Takagi-Sugeno s model, to obtain a combination of the MRAC and VS-MRAC control laws. In both cases, the combined control structure is shown to be robust to the parametric uncertainties and external disturbances, with a fast transient performance, practically without oscillations, and a smoothness steady-state control signal
Neste trabalho ? apresentada uma proposta de um controlador, denominado Controlador em Modo Dual Adaptativo Robusto (DMARC), que estabelece uma liga??o entre um controlador adaptativo por modelo de refer?ncia (MRAC) e um controlador adaptativo por modelo de refer?ncia e estrutura vari?vel (VS-MRAC). A id?ia b?sica ? incorporar as vantagens de desempenho transit?rio do controlador VS-MRAC com as propriedades de regime permanente do controlador MRAC convencional. S?o desenvolvidos dois algoritmos b?sicos para o controlador DMARC. No primeiro o ajuste do controlador ? feito, em tempo real, atrav?s da varia??o de um par?metro na lei de adapta??o. No segundo algoritmo a lei de controle ? gerada, utilizando o modelo Takagi-Sugeno da l?gica nebulosa, para obter uma composi??o ponderada das leis de controle do MRAC e do VS-MRAC. Em ambos os casos, o esquema combinado de controle ? mostrado ser robusto ?s incertezas param?tricas e perturba??es externas, al?m de apresentar um desempenho r?pido e pouco oscilat?rio durante o transit?rio e um sinal de controle suave em regime permanente

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Jacome, Isael Calistrato. "Controle adaptativo por modelo de referencia e estrutura vari?vel discreto no tempo." Universidade Federal do Rio Grande do Norte, 2013. http://repositorio.ufrn.br:8080/jspui/handle/123456789/18573.

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Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior
With the technology progess, embedded systems using adaptive techniques are being used frequently. One of these techniques is the Variable Structure Model- Reference Adaptive Control (VS-MRAC). The implementation of this technique in embedded systems, requires consideration of a sampling period which if not taken into consideration, can adversely affect system performance and even takes the system to instability. This work proposes a stability analysis of a discrete-time VS-MRAC accomplished for SISO linear time-invariant plants with relative degree one. The aim is to analyse the in uence of the sampling period in the system performance and the relation of this period with the chattering and system instability
Com o avanco da tecnologia, sistemas embarcados utilizando t?cnicas adaptativas est?o sendo utilizados com mais frequencia. Uma dessas t?cnicas ? o Controlador adaptativo por Modelo de Referencia e Estrutura Variavel (VS-MRAC). A implementa??o dessa t?cnica em sistemas embarcados, requer a considera??o de um per?odo de amostragem que se n?o for levado em considera??o, pode afetar de maneira negativa a performance do sistema e at? mesmo lev?-lo a instabilizacao. Este trabalho prop?e uma an?lise de estabilidade do VS-MRAC para o caso discreto para uma planta SISO linear, invariante no tempo, de grau relativo unit?rio. O objetivo ? analisar a influ?ncia do per?odo de amostragem no desempenho do sistema, e a rela??o desse per?odo com o fen?meno de "chattering" e instabiliza??o do sistema

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Lanman, Jeremy Thomas. "A governance reference model for service-oriented architecture-based common data initialization a case study of military simulation federation systems." Doctoral diss., University of Central Florida, 2010. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4516.

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Military simulation and command and control federations have become large, complex distributed systems that integrate with a variety of legacy and current simulations, and real command and control systems locally as well as globally. As these systems continue to become increasingly more complex so does the data that initializes them. This increased complexity has introduced a major problem in data initialization coordination which has been handled by many organizations in various ways. Service-oriented architecture (SOA) solutions have been introduced to promote easier data interoperability through the use of standards-based reusable services and common infrastructure. However, current SOA-based solutions do not incorporate formal governance techniques to drive the architecture in providing reliable, consistent, and timely information exchange. This dissertation identifies the need to establish governance for common data initialization service development oversight, presents current research and applicable solutions that address some aspects of SOA-based federation data service governance, and proposes a governance reference model for development of SOA-based common data initialization services in military simulation and command and control federations.
ID: 029094323; System requirements: World Wide Web browser and PDF reader.; Mode of access: World Wide Web.; Thesis (Ph.D.)--University of Central Florida, 2010.; Includes bibliographical references (p. 253-261).
Ph.D.
Doctorate
Department of Modeling and Simulation
Engineering and Computer Science

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22

Simsek, Gunay. "Sensorless Direct Field Oriented Control Of Induction Machine By Flux And Speed Estimation Using Model Reference Adaptive System." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12604965/index.pdf.

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ABSTRACT SENSORLESS DIRECT FIELD ORIENTED CONTROL OF INDUCTION MACHINE BY FLUX AND SPEED ESTIMATORS USING MODEL REFERENCE ADAPTIVE SYSTEM This work focuses on an observer design which will estimate flux-linkage and speed for induction motors in its entire speed control range. The theoretical base of the algorithm is explained in detail and its both open-loop, and closed-loop performance is tested with experiments, measuring only stator current and voltage. Theoretically, the field-oriented control for the induction motor drive can be mainly categorized into two types
indirect and direct field oriented. The field to be oriented may be rotor, stator, or airgap flux-linkage. In the indirect field-oriented control, the slip estimation based on the measured or estimated rotor speed is required in order to compute the synchronous speed. There is no need for the flux estimation in such a system. For the direct field oriented case the synchronous speed is computed with the aid of a flux estimator. In DFO, the synchronous speed is iv computed from the ratio of dq-axes fluxes. With the combination of a flux estimator and an open-loop speed estimator one can observe stator-rotor fluxes, rotor-flux angle and rotor speed. In this study, the direct (rotor) flux oriented control system with flux and-open-loop speed estimators is described and tested in real-time with the Evaluation Module named TMS320LF21407 and the Embedded Target software named Vissim from Visual Solutions Company.

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Badran, Laila Jamal. "A model system for the control and regulation of medicinal products in Jordan with particular reference to management of quality issues." Thesis, University of Strathclyde, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.400336.

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Duque, Escobar Ismael Mauricio. "Contribution à la mise en oeuvre de la commande adaptative." Grenoble INPG, 1989. http://www.theses.fr/1989INPG0007.

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Les systemes de commande adaptative proposes consistent en une combinaison d'une loi de commande avec modele de reference sur l'etat partiel avec un estimateur de parametres robustges vis-a-vis d'une classe de perturbations definie. Evaluation experimentale des systemes proposes

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Shankar, H. N. "Adaptive Control Of A General Class Of Finite Dimensional Stable LTI Systems." Thesis, Indian Institute of Science, 2000. http://hdl.handle.net/2005/225.

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We consider the problem of Adaptive Control of finite-dimensional, stable, Linear Time Invariant (LTI) plants. Amongst such plants, the subclass regarding which an upper bound on the order is not known or which are known to be nonminimum phase (zeros in the unstable region) pose formidable problems in their own right. On one hand, if an upper bound on the order of the plant is not known, adaptive control usually involves some form of order estimation. On the other hand, when the plant is allowed to be either minimum phase or nonminimum phase, the adaptive control problem, as is well-known, becomes considerably-less tractable. In this study, the class of unknown plants considered is such that no information is available on the upper bound of the plant order and, further, the plant may be either minimum phase or nonminimum phase. Albeit known to be stable, such plants throw myriads of challenges in the context of adaptive control. Adaptive control involving such plants has been addressed [79] in a Model Reference Adaptive Control (MRAC) framework. There, the inputs and outputs of the unknown plant are the only quantities available by measurement in terms of which any form of modeling of the unknown plant may be made. Inputs to the reference model have been taken from certain restricted classes of bounded signals. In particular, the three classes of inputs considered are piecewise continuous bounded functions which asymptotically approach • a nonzero constant, • a sinusoid, and • a sinusoid with a nonzero shift. Moreover, the control law is such that adaptation is carried out at specific instants separated by progressively larger intervals of time. The schemes there have been proved to be e-optimal in the sense of a suitably formulated optimality criterion. If, however, the reference model inputs be extended to the class of piecewise continuous bounded functions, that would compound the complexity of the adaptive control problem. Only one attempt [78] in adaptive control in such a setting has come to our notice. The problem there has been tackled by an application of the theory of Pade Approximations to time moments of an LTI system. Based on a time moments estimation procedure, a simple adaptive scheme for Single-Input Single-Output (SISO) systems with only a cascade compensator has been reported. The first chapter is essentially meant to ensure that the problem we seek to address in the field of adaptive control indeed has scope for research. Having defined Adaptive Control, we selectively scan through the literature on LTI systems, with focus on MRAC. We look out in particular for studies involving plants of which not much is known regarding their order and systems which are possibly nonminimum phase. We found no evidence to assert that the problem of adaptive control of stable LTI systems, not necessarily minimum phase and of unknown upper bound on the order, was explored enough, save two attempts involving SISO systems. Taking absence of evidence (of in-depth study) for evidence of absence, we make a case for the problem and formally state it. We preview the thesis. We set two targets before us in Chapter 2. The first is to review one of the existing procedures attacking the problem we intend to address. Since the approach is based on the notion of time moments of an LTI system, and as we are to employ Pade Approximations as a tool, we uncover these concepts to the limited extent of our requirement. The adaptive procedure, Plant Command Modifier Scheme (PCMS) [78], for SISO plants is reported in some detail. It stands supported on an algorithm specially designed to estimate the time moments of an LTI system given no more than its input and output. Model following there has been sought to be achieved by matching the first few time moments of the reference model by the corresponding ones of the overall compensated plant. The plant time moment estimates have been taken to represent the unknown plant. The second of the goals is to analyze PCMS critically so that it may serve as a forerunner to our work. We conclude the chapter after accomplishing these goals. In Chapter 3, we devise a time moment estimator for SISO systems from a perspective which is conceptually equivalent to, yet functionally different from, that appropriated in [78]. It is a recipe to obtain estimates of time moments of a system by computing time moment estimates of system input and output signals measured up to current time. Pade approximations come by handy for this purpose. The lacunae exposed by a critical examination of PCMS in Chapter 2 guide us to progressively refine the estimator. Infirmities in the control part of PCMS too have come to light on our probing into it. A few of these will be fixed by way of fabricating two exclusively cascade compensators. We encounter some more issues, traceable to the estimator, which need redressal. Instead of directly fine-tuning the estimator itself, as is the norm, we propose the idea of 'estimating' the lopsidedness of the estimator by using it on the fully known reference model. This will enable us to effect corrections and obtain admissible estimates. Next, we explore the possibility of incorporating feedback compensation in addition to the existing cascade compensation. With output error minimization in mind, we come up with three schemes in this category. In the process, we anticipate the risk of instability due to feedback and handle it by means of an instability preventer with an inbuilt instability detector. Extensive simulations with minimum and rionminimum phase unknown plants employing the various schemes proposed are presented. A systematic study of simulation results reveals a dyad of hierarchies of progressively enhanced overall performance. One is in the sequence of the proposed schemes and the other in going for matching more and more moments. Based on our experiments we pick one of the feedback schemes as the best. Chapter 4 is conceived of as a bridge between SISO and multivariable systems. A transition from SISO to Multi-Input Multi-Output (MIMO) adaptive control is not a proposition confined to the mathematics of dimension-enhancement. A descent from the MIMO to the SISO case is expected to be relatively simple, though. So to transit as smoothly and gracefully as possible, some issues have to be placed in perspective before exploring multivariable systems. We succinctly debate on the efforts in pursuit of the exact vis-a-vis the accurate, and their implications. We then set some notations and formulate certain results which serve to unify and simplify the development in the subsequent three chapters. We list a few standard results from matrix theory which are to be of frequent use in handling multivariable systems. We derive control laws for Single-Input Multi-Output (SIMO) systems in Chapter 5. Expectedly, SIMO systems display traits of observability and uncontrollability. Results of illustrative simulations are furnished. In Chapter 6, we formulate control laws for Multi-Input Single-Output (MISO) systems. Characteristics of unobservability and controllability stand out there. We present case studies. Before actually setting foot onto MIMO systems, we venture to conjecture on what to expect there. We work out all the cascade and feedback adaptive schemes for square and nonsquare MIMO systems in Chapter 7. We show that MIMO laws when projected to MISO, SIMO and SISO cases agree with the corresponding laws in the respective cases. Thus the generality of our treatment of MIMO systems over other multivariable and scalar systems is established. We report simulations of instances depicting satisfactory performance and highlight the limitations of the schemes in tackling the family of plants of unknown upper bound on the order and possibly nonminimum phase. This forms the culmination of our exercise which took off from the reported work involving SISO systems [78]. Up to the end of the 7th chapter, we are in pursuit of solutions for the problem as general as in §1.4. For SISO systems, with input restrictions, the problem has been addressed in [79]. The laws proposed there carry out adaptation only at certain discrete instants; with respect to a suitably chosen cost, the final laws are proved to be e>optimal. In Chapter 8, aided by initial suboptimal control laws, we finally devise two algorithms with continuous-time adaptation and prove their optimality. Simulations with minimum and nonminimum phase plants reveal the effectiveness of the various laws, besides throwing light on the bootstrapping and auto-rectifying features of the algorithms. In the tail-piece, we summarize the work and wind up matters reserved for later deliberation. As we critically review the present work, we decant the take-home message. A short note on applications followed by some loud thinking as a spin-off of this report will take us to finis.

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Venkatesan, Nishant. "AN EVALUATION OF THE TRAVELING WAVE ULTRASONIC MOTOR FOR FORCE FEEDBACK APPLICATIONS." UKnowledge, 2009. http://uknowledge.uky.edu/gradschool_theses/575.

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The traveling wave ultrasonic motor is considered for use in haptic devices where a certain input-output relation is desired between the applied force and the resulting motion. Historically, DC motors have been the standard choice for this purpose. Owing to its unique characteristics, the ultrasonic motors have been considered an attractive alternative. However, there are some limitations when using the ultrasonic motor for force-feedback applications. In particular, direct torque control is difficult, and the motor can only supply torque in the direction of motion. To accommodate these limitations we developed an indirect control approach. The experimental results demonstrate that the model reference control method was able to approximate a second order spring-damper system.

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Maeland, Jahn Andreas. "Model-reference neural control." Thesis, University of Salford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.238757.

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Keller, Uwe E. "Qualitative model reference adaptive control." Thesis, Heriot-Watt University, 1999. http://hdl.handle.net/10399/592.

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Layne, Jeffery Ray. "Fuzzy model reference learning control." Connect to resource, 1992. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1159541293.

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Trinkūnaitė, Ingrida. "Asinchroninės bejutiklės pavaros modeliavimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2011. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2011~D_20110621_170245-16691.

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Baigiamajame darbe sudarytas uždarosios asinchroninės bejutiklės vektoriškai valdomos pavaros imitacinis modelis ir ištirtos charakteristikos. Teorinėje darbo dalyje yra aptariami asinchroninių elektros pavarų privalumai bei šiose pavarose naudojami greičio jutikliai. Aprašomi stebiklių privalumai bei trūkumai, pagrindžiamas jų naudojimas asinchroninėse pavarose. Nagrinėjami bejutiklių elektros pavarų ypatumai, aprašomi vektorinio valdymo bendrieji principai bei aprašomi bejutiklėse vektoriškai valdomose pavarose naudojamų stebiklių modeliai. Pateikiami du skirtingi asinchroninių variklių matematiniai modeliai. Tiriamojoje dalyje parenkamas asinchroninio variklio modelis, tiriant abiejų imitacinių modelių dinamines greičio charakteristikas. Sudaromas stebiklio imitacinis modelis. Tiriamos stebiklio greičio dinaminės charakteristikos, sudaroma uždaroji greičio reguliavimo sistema su stebikliu. Analizuojamos uždarosios greičio reguliavimo sistemos greičio charakteristikos be apkrovos, su šuoline apkrova ir harmoniškai kintančia apkrova. Nagrinėjama sistemos stiprinimo koeficiento įtaka uždarosios greičio reguliavimo sistemos greičio charakteristikų pereinamiesiams procesams. Magistro darbas baigiamas tyrimo išvadomis, kuriose aptariamas darbo rezultatų realaus pritaikymo galimybės. Darbą sudaro 8 dalys: įvadas, žymėjimai, literatūros šaltinių analizė, tyrimo tikslas ir uždaviniai, teorinė dalis, tiriamoji dalis išvados ir pasiūlymai, literatūros šaltiniai.
The final master degree thesis presents sensorless vector controlled induction motor drive simulation model and characteristics. In the analytic part of master thesis advantages of induction motor drives and speed sensors are described. Advantages and disadvantages of speed estimators are presented and purpose of using them are proved. Peculiarities of sensorless motor drives, principles of vector control and models of speed estimators are analyzed. Two simulation models of induction motor are proposed. In the research part characteristics of induction motors are compared and motor model is chosen. Characteristics of open loop induction motor drive are investigated and simulation model of closed loop induction motor drive with speed estimator is designed. Characteristics of closed loop control system at no load, constant load and harmonic load are analyzed and influence of speed controller gain is considered. Thesis is closed with conclusions about designed system application in real projects. Structure: introduction, list of symbols, literature review, the study aims and objectives, the theoretical part, research part, conclusions and proposals, references.

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Ariss, Joseph, and Salim Rabat. "A comparison between a traditional PID controller and an Artificial Neural Network controller in manipulating a robotic arm." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-259365.

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Robotic and control industry implements different control technique to control the movement and the position of a robotic arm. PID controllers are the most used controllers in the robotics and control industry because of its simplicity and easy implementation. However, PIDs’ performance suffers under noisy environments. In this research, a controller based on Artificial Neural Networks (ANN) called the model reference controller is examined to replace traditional PID controllers to control the position of a robotic arm in a noisy environment. Simulations and implementations of both controllers were carried out in MATLAB. The training of the ANN was also done in MATLAB using the Supervised Learning (SL) model and Levenberg-Marquardt backpropagation algorithm. Results shows that the ANN implementation performs better than traditional PID controllers in noisy environments.
Robotoch kontrollindustrin implementerar olika kontrolltekniker för att styra rörelsen och placeringen av en robotarm. PID-styrenheter är de mest använda kontrollerna inom roboten och kontrollindustrin på grund av dess enkelhet och lätt implementering. PID:s prestanda lider emellertid i bullriga miljöer. I denna undersökning undersöks en styrenhet baserad på Artificiell Neuralt Nätverk (ANN) som kallas modellreferenskontrollen för att ersätta traditionella PID-kontroller för att styra en robotarm i bullriga miljöer. Simuleringar och implementeringar av båda kontrollerna utfördes i MATLAB. Utbildningen av ANN:et gjordes också i MATLAB med hjälp av Supervised Learning (SL) -modellen och LevenbergMarquardt backpropagationsalgoritmen. Resultat visar att ANN-implementeringen fungerar bättre än traditionella PID-kontroller i bullriga miljöer.

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Murphey, Todd David Burdick Joel Wakeman. "Control of multiple model systems /." Diss., Pasadena, Calif. : California Institute of Technology, 2002. http://resolver.caltech.edu/CaltechETD:etd-07312002-091923.

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Campbell, Robert Andrew Hartley. "Reconfigurable flight control using a model reference approach." Thesis, University of Bristol, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.271873.

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Hill, Jonathan. "A design procedure for model reference adaptive control." Thesis, This resource online, 1995. http://scholar.lib.vt.edu/theses/available/etd-02132009-172226/.

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Lewandowski, Debra A. "The internal control system and control programs : a reference guide /." Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA232249.

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Thesis (M.S. in Management)--Naval Postgraduate School, June 2009.
Thesis Advisor(s): Eberling, Glenn. Second Reader: McCaffery, Jerry L. "June 1990." Description based on title screen as viewed on 19 October 2009. DTIC Identifier(s): management, internal control system, audits, command evaluation program, economy and efficiency reviews, theses, comptrollers, accounting. Author(s) subject terms: Internal control; internal control system; audits; reviews; command evaluation program, economy & efficiency reviews; inspection and investigative agencies. Includes bibliographical references (p. 85-87). Also available online.

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Simon, Daniel. "Model Predictive Control in Flight Control Design : Stability and Reference Tracking." Licentiate thesis, Linköpings universitet, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-103742.

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Aircraft are dynamic systems that naturally contain a variety of constraints and nonlinearities such as, e.g., maximum permissible load factor, angle of attack and control surface deflections. Taking these limitations into account in the design of control systems are becoming increasingly important as the performance and complexity of the controlled systems is constantly increasing. It is especially important in the design of control systems for fighter aircraft. These require maximum control performance in order to have the upper hand in a dogfight or when they have to outmaneuver an enemy missile. Therefore pilots often maneuver the aircraft very close to the limit of what it is capable of, and an automatic system (called flight envelope protection system) against violating the restrictions is a necessity. In other application areas, nonlinear optimal control methods have been successfully used to solve this but in the aeronautical industry, these methods have not yet been established. One of the more popular methods that are well suited to handle constraints is Model Predictive Control (MPC) and it is used extensively in areas such as the process industry and the refinery industry. Model predictive control means in practice that the control system iteratively solves an advanced optimization problem based on a prediction of the aircraft's future movements in order to calculate the optimal control signal. The aircraft's operating limitations will then be constraints in the optimization problem. In this thesis, we explore model predictive control and derive two fast, low complexity algorithms, one for guaranteed stability and feasibility of nonlinear systems and one for reference tracking for linear systems. In reference tracking model predictive control for linear systems we build on the dual mode formulation of MPC and our goal is to make minimal changes to this framework, in order to develop a reference tracking algorithm with guaranteed stability and low complexity suitable for implementation in real time safety critical systems. To reduce the computational burden of nonlinear model predictive control several methods to approximate the nonlinear constraints have been proposed in the literature, many working in an ad hoc fashion, resulting in conservatism, or worse, inability to guarantee recursive feasibility. Also several methods work in an iterative manner which can be quit time consuming making them inappropriate for fast real time applications. In this thesis we propose a method to handle the nonlinear constraints, using a set of dynamically generated local inner polytopic approximations. The main benefits of the proposed method is that while computationally cheap it still can guarantee recursive feasibility and convergence.

The series name "Linköping studies in science and technology. Licentiate Thesis" is incorrect. The correct series name is "Linköping studies in science and technology. Thesis".

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Kergus, Pauline. "Data-driven model reference control in the frequency-domain : From model reference selection to controller validation." Thesis, Toulouse, ISAE, 2019. http://www.theses.fr/2019ESAE0031.

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Dans de nombreuses applications, aucun modèle physique du système n'est disponible, il s'agit alors de contrôler le système à partir de mesures entrées-sorties. Deux types d'approches sont envisageables : identifier un modèle du système puis l'utiliser afin de synthétiser un contrôleur, ce sont les méthodes indirectes, ou identifier le contrôleur directement à partir des données du système, ce sont les méthodes directes. Cette thèse se concentre sur les méthodes directes : l'objectif du travail présenté est de mettre en place une nouvelle méthode directe basée sur des données fréquentielles du système à contrôler. Après un tour d’horizon des méthodes indirectes existantes la méthode proposée est introduite. Il s’agit de résoudre un problème de suivi de modèle de référence : le problème d’identification est déporté du système vers le contrôleur. Dans ce cadre, deux techniques d’identification sont considérées dans cette thèse : l’interpolation de Loewner et l’approche des sous-espaces. De plus, les instabilités du système sont estimées en projetant les données fréquentielles disponibles. Cela permet de connaître les limites en performances du système et, par conséquent, de choisir des spécifications atteignables. Enfin, une analyse de la stabilité en boucle fermée permet d’obtenir un contrôleur stabilisant d’ordre réduit. Tout au long de ce travail, les différentes étapes de la méthode sont appliquées progressivement sur des exemples numériques. Pour finir, la méthode proposée est appliquée sur deux systèmes irrationnels, décrits par des équations aux dérivées partielles: un cristalliseur continu et un canal de génération. Ces deux exemples sont représentatifs de la catégorie de systèmes pour lesquels utiliser une méthode de contrôle directe est plus pertinent
In many applications, no physical description of the plant is available and the control law has to be designed on the basis of input-output measurements only. Two control strategies can then be considered : one can either identify a model of the plant and then use any kind of model-based technique (indirect methods) to obtain a control law, or use a data-driven strategy that directly compute the controller from the experimental data (direct methods). This work focuses on data-driven techniques : the objective of this thesis is to propose a new data-driven control technique based on frequency-domain data collected from the system to be controlled. After recalling some basics in feedback control, an overview of data-driven control is given. Then, the proposed method is introduced. It is a model reference technique : the identification problem is moved from the plant to the controller. In this work, two identification techniques are used to that purpose: the Loewner framework and the subspace approach. In addition, a technique is proposed to estimate the system’s instabilities. It allows to determine the performance limitations and to select achievable specifications. Finally, a stability condition, already known in data-driven control, is used during the reduction of the controller to ensure closed-loop stability. Along this thesis, the different steps of the method are progressively applied on two numercial examples. In the end, the proposed technique is applied on two irrational systems described by partial differential equations : a continuous crystallizer and an open-channel for hydroelectricity generation. These two examples illustrate the type of applications for which using a data-driven control method is indicated

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Blanchard, Tina-Louise. "A Systems Engineering Reference Model for Fuel Cell Power Systems Development." Cleveland State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=csu1322713336.

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Zhang, Fubiao [Verfasser]. "Physically Integrated Reference Model Based Flight Control / Fubiao Zhang." München : Verlag Dr. Hut, 2017. http://d-nb.info/1135596409/34.

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Almeida, Fernando Gomes de. "Model reference adaptive control of two axes hydraulic manipulator." Thesis, University of Bath, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334573.

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Grenholm, Sven. "Adaptive Model Predictive Control for Reference Tracking Vehicle Motion." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286337.

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This thesis report presents a set of One-Dimensional Vehicle Motion Reference Tracking control algorithms for vehicle motion along a predetermined path. A general physical model of the motion dynamics of a vehicle along a predetermined path is presented. From this physical model a discretized linearized prediction model is derived, and this prediction model is utilized to formulate a Quadratic Programming optimization problem. This serves as the basis for a receding horizon Model Predictive Control algorithm. The model predictive controller is augmented with a parallel Recursive Least Square Error identification algorithm used to regularly reestimate the mass parameter of the prediction model to handle any wrongful model assumptions. These algorithms are to be used for tracking position and velocity references. Evaluation of the algorithms is performed in simulation. The presented algorithms are shown to be accurate and robust. Specific problematic edge cases where performance is compromised are shown and suggestions on how to tackle them are provided.
Detta examensarbete presenterar ett antal styralgoritmer för referensföljande endimensionell fordonsrörelse. En fysisk modell för ett fordons rörelsedynamik presenteras längs en förbestämd bana. Utifrån denna modell härleds en diskretiserad linjariserad prediktionsmodell. Denna prediktionsmodell används för att formulera ett K vadratiskt Programmerings-problem. Detta optimeringsproblem står till grund för en model-prediktiv regleralgoritm. Detta reglersystem augumenteras med en rekursiv minsta-kvadrat-fels algoritm för systemidentifiering, som används till att upprepande återuppskatta massan för att hantera systematiska fel i prediktionsmodellen. Dessa algoritmer används till referensföljning i position och hastighet. Utvärderingen av algoritmerna genomförs i simulation. De presenterade algoritmerna uppvisas att vara generellt sett träffsäkra och robusta. Specifika problematiska fall där prestandan blir sämre lyfts upp och förslag på hur dessa scenarion skulle kunna hanteras medföljer.

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(13966280), Juiliusz M. Zajackowski. "Model reference adaptive control in Hamiltonian systems." Thesis, 2000. https://figshare.com/articles/thesis/Model_reference_adaptive_control_in_Hamiltonian_systems/21343683.

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In this thesis we examine model reference control systems (MRC) in Hamiltonian formulation. The MRC system is then developed into a model reference adaptive control system. We then examine the sliding mode technique in Hamiltonian formulation. Comparison of controller performance is given by way of simulated control of a cylindrical robotic manipulator.

In this thesis we apply the so called Lyapunov direct method. The aim in this method is to construct an energy-like function (Lyapunov function), satisfying certain conditions, and using a control law, force it to decrease with the passage of time. The synthesis problem using the Lyapunov direct method is to select a Lyapunov function candidate and a mechanism to adjust the parameters of the system so that the Lyapunov function satisfies the conditions for stability.

A brief introduction to Newtonian, Lagrangian and Hamiltonian formulation of dynamics is given and illustrated on the same example of a two-link revolute robotic manipulator.

Model reference control is considered for nonlinear plant and reference models which are given in the Hamiltonian format. We show how the Hamiltonian for the reference model can be used as a Lyapunov function for MRC. The method is applied to linear and nonlinear plants, with particular application to robot control.

Model reference adaptive control (MRAC) is introduced as an extension of the MRC results. We use the Liapunov method to determine controllers for adaptive tracking and at the same time give sufficient conditions to ensure that the resulting system is stable.

The sliding mode approach provides a simple and robust method of dealing with modelling imprecision. We next adapt the sliding mode technique to the Hamiltonian formulation and design the control and adaptation laws. We design a stabilising controller for the sliding mode method.

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ZHANG, JIA-HUA, and 張家華. "Design of simplified model reference adaptive control systems." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/19081204744626278733.

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Joelianto, Endra. "Linear hybrid reference control systems." Phd thesis, 2000. http://hdl.handle.net/1885/147756.

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Jiann, Min Wu. "Model Reference Optimal Control System Design." 1993. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611351437.

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Oliveira, Lopes Luís Cláudio. "Reference system nonlinear model predictive control /." Diss., 2000. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:9995535.

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Park, Daesik. "The application of model reference adaptive control for vapour compression systems." 2007. http://link.library.utoronto.ca/eir/EIRdetail.cfm?Resources__ID=452786&T=F.

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SONG, ZHEN-TAN, and 宋真坦. "The analysis of model reference adaptive control for certain nonlinear systems." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/14661135647524630336.

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Guruprasad, K. R. "Model Reference Learning Control Using ANFIS." Thesis, 1996. http://etd.iisc.ernet.in/handle/2005/1714.

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CHEN, JIE-ZENG, and 陳捷曾. "Model reference adaptive control of valve control electrohydraulic servo system." Thesis, 1991. http://ndltd.ncl.edu.tw/handle/49369450186744859479.

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Dissertations / Theses on the topic 'Model reference control systems'

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