A MRAS-based Learning Feed-forward Controller

Job van Amerongen

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    Abstract

    Inspired by learning feed–forward control structures, this paper considers the adaptation of the parameters of a model–reference based learning feed–forward controller that realizes an inverse model of the process. The actual process response is determined by a setpoint generator. For linear systems it can be proved that the controlled system is asymptotically stable in the sense of Liapunov. Compared with more standard model reference configurations this system has a superior performance. It is fast, robust and relatively insensitive for noisy measurements. Simulations with an arbitrary second–order process and with a model of a typical fourth–ordermechatronics process demonstrate this.
    Original languageEnglish
    Pages (from-to)1-6
    Number of pages6
    JournalIFAC proceedings volumes
    Volume39
    Issue number16
    DOIs
    Publication statusPublished - Sep 2006
    Event4th IFAC Symposium on Mechatronic Systems, IFACMech 2006 - Heidelberg, Heidelberg, Germany
    Duration: 1 Sep 200614 Sep 2006
    Conference number: 4

    Keywords

    • Model reference adaptive control
    • Learning control
    • Feed-forward control

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