Frontiers of Mechanical Engineering >

2016 , Vol. 11 >Issue 2: 213 - 217

DOI: https://doi.org/10.1007/s11465-016-0386-x

RESEARCH ARTICLE

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

  • Dan ZHANG , 1 ,
  • Bin WEI 2
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  • 1. Department of Mechanical Engineering, York University, Toronto M3J 1P3, Canada
  • 2. Department of Automotive, Mechanical, and Manufacturing Engineering, University of Ontario Institute of Technology, Oshawa L1H 7K4, Canada

Received date: 23 Feb 2016

Accepted date: 17 Mar 2016

Published date: 29 Jun 2016

Copyright

2016 Higher Education Press and Springer-Verlag Berlin Heidelberg
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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.

Key words： proportional-integral-derivative (PID) control; model reference adaptive control; hybrid control; convergence speed; comparison

Cite this article

Dan ZHANG , Bin WEI . Convergence performance comparisons of PID, MRAC, and PID+MRAC hybrid controller[J]. Frontiers of Mechanical Engineering, 2016 , 11(2) : 213 -217 . DOI: 10.1007/s11465-016-0386-x

Acknowledgements

The authors would like to thank the Natural Sciences and Engineering Research Council of Canada for its financial support. The authors also gratefully acknowledge the financial support from the Canada Research Chairs program.

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