Multi-Input Multi-Output Direct Adaptive Control for a Distributed Parameter Flexible Rotating Arm

In this paper, a Multi-Input Multi-Output (MIMO) Model Reference Adaptive Control (MRAC)scheme for a exible rotating arm is developed. In order to construct a reference model to befollowed by this distributed parameter system, a finite element method is used to approximatethe behavior of the arm. An input error direct adaptive control algorithm is utilized as thecontrol approach to account for parameter uncertainty. Assuming the same approximation andstructure as the model for the actual system, the stability analysis of the proposed controller willbe straightforward. Simulation results are provided to illustrate the performance of the proposedalgorithm in the presence of disturbance and uncertainties. Also, the proposed algorithm resultsare compared with those of a conventional PD controller.