Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller

Abstract

This study proposes a hybrid controller by combining a proportional-integral-derivative (PID) control and a model reference adaptive control (MRAC), which named as PID+MRAC controller. The convergence performances of the PID control, MRAC, and hybrid PID+MRAC are also compared. Through the simulation in Matlab, the results show that the convergence speed and performance of the MRAC and the PID+MRAC controller are better than those of the PID controller. In addition, the convergence performance of the hybrid control is better than that of the MRAC control.

Keywords

proportional-integral-derivative (PID) control / model reference adaptive control / hybrid control / convergence speed / comparison

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Higher Education Press and Springer-Verlag Berlin Heidelberg