Design of MRAC and modified MRAC for DC motor speed control

Due to nonlinear actuators or changing environmental conditions, the parameter of the process changes resulting in the failure of a conventional controller. To overcome the failure of the conventional controller and to achieve the desired output, an adaptive mechanism called Model Reference Adaptive Controller (MRAC) can be designed. Since the conventional MRAC is aimed at the firstorder system for two-variable parameter adjustment, it cannot be applied for most practical systems, including DC motor. To overcome this a modified MRAC which is the combination of conventional MRAC and a PID controller is designed in this paper.